3013 lines
110 KiB
C
3013 lines
110 KiB
C
/*------------------------------------------------------------------------------
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* rinex.c : RINEX functions
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*
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* Copyright (C) 2007-2020 by T.TAKASU, All rights reserved.
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*
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* reference :
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* [1] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
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* Version 2.11, December 10, 2007
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* [2] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
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* Version 3.00, November 28, 2007
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* [3] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
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* 7 March, 2006
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* [4] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
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* Version 2.12, June 23, 2009
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* [5] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
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* Version 3.01, June 22, 2009
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* [6] J.Ray and W.Gurtner, RINEX extensions to handle clock information
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* version 3.02, September 2, 2010
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* [7] RINEX The Receiver Independent Exchange Format Version 3.02,
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* International GNSS Service (IGS), RINEX Working Group and Radio
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* Technical Commission for Maritime Services Special Committee 104
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* (RTCM-SC104), December 10, 2012
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* [8] RINEX The Receiver Independent Exchange Format Version 3.03,
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* International GNSS Service (IGS), RINEX Working Group and Radio
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* Technical Commission for Maritime Services Special Committee 104
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* (RTCM-SC104), July 14, 2015
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* [9] RINEX The Receiver Independent Exchange Format Version 3.04,
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* International GNSS Service (IGS), RINEX Working Group and Radio
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* Technical Commission for Maritime Services Special Committee 104
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* (RTCM-SC104), November 23, 2018
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*
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* version : $Revision:$
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* history : 2006/01/16 1.0 new
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* 2007/03/14 1.1 read P1 if no obstype of C1
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* 2007/04/27 1.2 add readrnxt() function
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* 2007/05/25 1.3 add support of file path with wild-card (*)
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* add support of compressed files
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* 2007/11/02 1.4 support sbas/geo satellite
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* support doppler observables
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* support rinex bug of week handover
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* add rinex obs/nav output functions
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* 2008/06/16 1.5 export readrnxf(), add compress()
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* separate sortobs(), uniqeph(), screent()
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* 2008/10/28 1.6 fix bug on reading rinex obs header types of observ
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* 2009/04/09 1.7 support rinex 2.11
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* change api of outrnxobsh(),outrnxobsb(),outrnxnavb()
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* 2009/06/02 1.8 add api outrnxgnavb()
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* 2009/08/15 1.9 support glonass
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* add slip save/restore functions
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* 2010/03/03 1.10 fix bug of array access by disabled satellite
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* 2010/07/21 1.11 support rinex ver.2.12, 3.00
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* support rinex extension for qzss
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* support geo navigation messages
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* added api:
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* setrnxcodepri(),outrnxhnavh(),outrnxhnavb(),
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* changed api:
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* readrnx(),readrnxt(),outrnxnavh(),outrnxgnavh()
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* 2010/05/29 1.12 fix bug on skipping invalid satellite data
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* fix bug on frequency number overflow
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* output P1 instead of C1 if rnxopt.rcvopt=-L1P
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* output C2 instead of P2 if rnxopt.rcvopt=-L2C
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* change api:
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* outrnxgnavh(),outrnxhnavh(),readrnx(),
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* readrnxt()
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* add api:
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* outrnxlnavh(), outrnxqnav()
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* move uniqeph(),uniqgeph,uniqseph()
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* 2010/08/19 1.13 suppress warning
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* 2012/03/01 1.14 add function to read cnes widelane fcb in rnxclk
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* support compass rinex nav
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* change api: setcodepri()
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* 2012/10/17 1.15 support ver.2.12, ver.3.01
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* add api init_rnxctr(),free_rnxctr(),open_rnxctr(),
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* input_rnxctr()
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* change api readrnxt(),readrnx()
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* delete api setrnxcodepri()
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* fix bug on message frame time in v.3 glonass nav
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* 2013/02/09 1.16 add reading geph.iode derived from toe
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* 2013/02/23 1.17 support rinex 3.02 (ref [7])
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* change api outrnxobsh()
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* add api outrnxcnavh()
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* fix bug on output of fit interval
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* 2013/05/08 1.18 fix bug on reading glo and geo nav in rinex 3
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* 2013/09/01 1.19 fix bug on reading galileo "C1" in rinex 2.12
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* 2013/12/16 1.20 reject C1 for 2.12
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* 2014/05/26 1.21 fix bug on reading gps "C2" in rinex 2.11 or 2.12
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* fix problem on type incompatibility
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* support beidou
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* 2014/08/29 1.22 fix bug on reading gps "C2" in rinex 2.11 or 2.12
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* 2014/10/20 1.23 recognize "C2" in 2.12 as "C2W" instead of "C2D"
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* 2014/12/07 1.24 add read rinex option -SYS=...
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* 2016/07/01 1.25 support RINEX 3.03
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* support IRNSS
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* 2016/09/17 1.26 fix bug on fit interval in QZSS RINEX nav
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* URA output value compliant to RINEX 3.03
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* 2016/10/10 1.27 add api outrnxinavh()
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* 2018/10/10 1.28 support galileo sisa value for rinex nav output
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* fix bug on handling beidou B1 code in rinex 3.03
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* 2019/08/19 1.29 support galileo sisa index for rinex nav input
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* 2020/11/30 1.30 support RINEX 3.04 (ref [9])
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* support phase shift in RINEX options rnxopt_t
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* support high-resolution (16bit) C/N0 in obsd_t
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* support dual sets of ephemerides in RINEX control
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* (for Galileo I/NAV and F/NAV)
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* no support RINEX 2 NAV extentions (QZS and BDS)
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* no support CNES/GRG clock extension in comments
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* fix bug on segfault to read NavIC/IRNSS OBS data
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* fix bug on segfault with # obs data >= MAXOBS
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* fix bug on reading/writing GLONASS slot/frq # lines
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* fix bug on reading SBAS UTC parameters in RINEX nav
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* fix bug on saving slip info in extended OBS slots
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* add iono/utc param. in separated output RINEX NAV
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* zero-padded satellite number (e.g. "G 1" -> "G01")
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* zero-padded month/date/hour/min/sec
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* use exponent letter D instead of E for RINEX NAV
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* use API code2idx() to get frequency index
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* use intger types in stdint.h
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* suppress warnings
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*-----------------------------------------------------------------------------*/
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#include "rtklib.h"
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/* constants/macros ----------------------------------------------------------*/
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#define SQR(x) ((x)*(x))
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#define NAVEXP "D" /* exponent letter in RINEX NAV */
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#define NUMSYS 7 /* number of systems */
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#define MAXRNXLEN (16*MAXOBSTYPE+4) /* max RINEX record length */
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#define MAXPOSHEAD 1024 /* max head line position */
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#define MINFREQ_GLO -7 /* min frequency number GLONASS */
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#define MAXFREQ_GLO 13 /* max frequency number GLONASS */
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#define NINCOBS 262144 /* incremental number of obs data */
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static const int navsys[]={ /* satellite systems */
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SYS_GPS,SYS_GLO,SYS_GAL,SYS_QZS,SYS_SBS,SYS_CMP,SYS_IRN,0
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};
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static const char syscodes[]="GREJSCI"; /* satellite system codes */
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static const char obscodes[]="CLDS"; /* observation type codes */
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static const double ura_eph[]={ /* RAa values (ref [3] 20.3.3.3.1.1) */
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2.4,3.4,4.85,6.85,9.65,13.65,24.0,48.0,96.0,192.0,384.0,768.0,1536.0,
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3072.0,6144.0,0.0
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};
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static const double ura_nominal[]={ /* URA nominal values */
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2.0,2.8,4.0,5.7,8.0,11.3,16.0,32.0,64.0,128.0,256.0,512.0,1024.0,
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2048.0,4096.0,8192.0
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};
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/* type definition -----------------------------------------------------------*/
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typedef struct { /* signal index type */
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int n; /* number of index */
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int idx[MAXOBSTYPE]; /* signal freq-index */
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int pos[MAXOBSTYPE]; /* signal index in obs data (-1:no) */
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uint8_t pri [MAXOBSTYPE]; /* signal priority (15-0) */
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uint8_t type[MAXOBSTYPE]; /* type (0:C,1:L,2:D,3:S) */
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uint8_t code[MAXOBSTYPE]; /* obs-code (CODE_L??) */
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double shift[MAXOBSTYPE]; /* phase shift (cycle) */
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} sigind_t;
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/* set string without tail space ---------------------------------------------*/
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static void setstr(char *dst, const char *src, int n)
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{
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char *p=dst;
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const char *q=src;
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while (*q&&q<src+n) *p++=*q++;
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*p--='\0';
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while (p>=dst&&*p==' ') *p--='\0';
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}
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/* adjust time considering week handover -------------------------------------*/
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static gtime_t adjweek(gtime_t t, gtime_t t0)
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{
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double tt=timediff(t,t0);
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if (tt<-302400.0) return timeadd(t, 604800.0);
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if (tt> 302400.0) return timeadd(t,-604800.0);
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return t;
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}
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/* adjust time considering week handover -------------------------------------*/
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static gtime_t adjday(gtime_t t, gtime_t t0)
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{
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double tt=timediff(t,t0);
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if (tt<-43200.0) return timeadd(t, 86400.0);
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if (tt> 43200.0) return timeadd(t,-86400.0);
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return t;
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}
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/* time string for ver.3 (yyyymmdd hhmmss UTC) -------------------------------*/
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static void timestr_rnx(char *str)
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{
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gtime_t time;
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double ep[6];
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time=timeget();
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time.sec=0.0;
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time2epoch(time,ep);
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sprintf(str,"%04.0f%02.0f%02.0f %02.0f%02.0f%02.0f UTC",ep[0],ep[1],ep[2],
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ep[3],ep[4],ep[5]);
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}
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/* satellite to satellite code -----------------------------------------------*/
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static int sat2code(int sat, char *code)
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{
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int prn;
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switch (satsys(sat,&prn)) {
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case SYS_GPS: sprintf(code,"G%02d",prn-MINPRNGPS+1); break;
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case SYS_GLO: sprintf(code,"R%02d",prn-MINPRNGLO+1); break;
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case SYS_GAL: sprintf(code,"E%02d",prn-MINPRNGAL+1); break;
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case SYS_SBS: sprintf(code,"S%02d",prn-100); break;
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case SYS_QZS: sprintf(code,"J%02d",prn-MINPRNQZS+1); break;
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case SYS_CMP: sprintf(code,"C%02d",prn-MINPRNCMP+1); break;
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case SYS_IRN: sprintf(code,"I%02d",prn-MINPRNIRN+1); break;
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default: return 0;
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}
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return 1;
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}
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/* URA index to URA nominal value (m) ----------------------------------------*/
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static double uravalue(int sva)
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{
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return 0<=sva&&sva<15?ura_nominal[sva]:8192.0;
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}
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/* URA value (m) to URA index ------------------------------------------------*/
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static int uraindex(double value)
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{
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int i;
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for (i=0;i<15;i++) if (ura_eph[i]>=value) break;
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return i;
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}
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/* Galileo SISA index to SISA nominal value (m) ------------------------------*/
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static double sisa_value(int sisa)
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{
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if (sisa<= 49) return sisa*0.01;
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if (sisa<= 74) return 0.5+(sisa- 50)*0.02;
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if (sisa<= 99) return 1.0+(sisa- 75)*0.04;
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if (sisa<=125) return 2.0+(sisa-100)*0.16;
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return -1.0; /* unknown or NAPA */
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}
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/* Galileo SISA value (m) to SISA index --------------------------------------*/
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static int sisa_index(double value)
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{
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/*
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* kudos to https://core.ac.uk/download/pdf/328854682.pdf for this ...
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* Signal-in-Space Accuracy : SISA flag is a prediction at 1-sigma standard deviation of the quality of
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* the transmitted signal.The flag can take values from 0 to 255. The transmitted standard index is 107 that
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* corresponds to a SISA value of 3.12m.If the prediction is not available, the transmitted index is 255 and
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* corresponds to No Accurate Prediction Available(NAPA).NAPA is an indicator of a potential anomalous
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* signal-in-space[6].Please notice that SISA flag refers to the dual-frequency signal combinations.
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*/
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if (value<0.0 || value>6.0) return 255; /* unknown or NAPA */
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else if (value<=0.5) return (int)(value/0.01);
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else if (value<=1.0) return (int)((value-0.5)/0.02)+50;
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else if (value<=2.0) return (int)((value-1.0)/0.04)+75;
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return (int)((value-2.0)/0.16)+100;
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}
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/* initialize station parameter ----------------------------------------------*/
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static void init_sta(sta_t *sta)
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{
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int i;
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*sta->name ='\0';
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*sta->marker ='\0';
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*sta->antdes ='\0';
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*sta->antsno ='\0';
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*sta->rectype='\0';
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*sta->recver ='\0';
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*sta->recsno ='\0';
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sta->antsetup=sta->itrf=sta->deltype=0;
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for (i=0;i<3;i++) sta->pos[i]=0.0;
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for (i=0;i<3;i++) sta->del[i]=0.0;
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sta->hgt=0.0;
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}
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/*------------------------------------------------------------------------------
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* input RINEX functions
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*-----------------------------------------------------------------------------*/
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/* convert RINEX obs-type ver.2 -> ver.3 -------------------------------------*/
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static void convcode(double ver, int sys, const char *str, char *type)
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{
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strcpy(type," ");
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if (!strcmp(str,"P1")) { /* ver.2.11 GPS L1PY,GLO L2P */
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if (sys==SYS_GPS) sprintf(type,"%c1W",'C');
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else if (sys==SYS_GLO) sprintf(type,"%c1P",'C');
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}
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else if (!strcmp(str,"P2")) { /* ver.2.11 GPS L2PY,GLO L2P */
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if (sys==SYS_GPS) sprintf(type,"%c2W",'C');
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else if (sys==SYS_GLO) sprintf(type,"%c2P",'C');
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}
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else if (!strcmp(str,"C1")) { /* ver.2.11 GPS L1C,GLO L1C/A */
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if (ver>=2.12) ; /* reject C1 for 2.12 */
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else if (sys==SYS_GPS) sprintf(type,"%c1C",'C');
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else if (sys==SYS_GLO) sprintf(type,"%c1C",'C');
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else if (sys==SYS_GAL) sprintf(type,"%c1X",'C'); /* ver.2.12 */
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else if (sys==SYS_QZS) sprintf(type,"%c1C",'C');
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else if (sys==SYS_SBS) sprintf(type,"%c1C",'C');
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}
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else if (!strcmp(str,"C2")) {
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if (sys==SYS_GPS) {
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if (ver>=2.12) sprintf(type,"%c2W",'C'); /* L2P(Y) */
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else sprintf(type,"%c2X",'C'); /* L2C */
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}
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else if (sys==SYS_GLO) sprintf(type,"%c2C",'C');
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else if (sys==SYS_QZS) sprintf(type,"%c2X",'C');
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else if (sys==SYS_CMP) sprintf(type,"%c2X",'C'); /* ver.2.12 B1_2 */
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}
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else if (ver>=2.12&&str[1]=='A') { /* ver.2.12 L1C/A */
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if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
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}
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else if (ver>=2.12&&str[1]=='B') { /* ver.2.12 GPS L1C */
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if (sys==SYS_GPS) sprintf(type,"%c1X",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c1X",str[0]);
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}
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else if (ver>=2.12&&str[1]=='C') { /* ver.2.12 GPS L2C */
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if (sys==SYS_GPS) sprintf(type,"%c2X",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
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}
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else if (ver>=2.12&&str[1]=='D') { /* ver.2.12 GLO L2C/A */
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if (sys==SYS_GLO) sprintf(type,"%c2C",str[0]);
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}
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else if (ver>=2.12&&str[1]=='1') { /* ver.2.12 GPS L1PY,GLO L1P */
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if (sys==SYS_GPS) sprintf(type,"%c1W",str[0]);
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else if (sys==SYS_GLO) sprintf(type,"%c1P",str[0]);
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else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
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else if (sys==SYS_CMP) sprintf(type,"%c2X",str[0]); /* extension */
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}
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else if (ver<2.12&&str[1]=='1') {
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if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
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else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
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else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
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}
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else if (str[1]=='2') {
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if (sys==SYS_GPS) sprintf(type,"%c2W",str[0]);
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else if (sys==SYS_GLO) sprintf(type,"%c2P",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
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else if (sys==SYS_CMP) sprintf(type,"%c2X",str[0]); /* ver.2.12 B1_2 */
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}
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else if (str[1]=='5') {
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if (sys==SYS_GPS) sprintf(type,"%c5X",str[0]);
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else if (sys==SYS_GAL) sprintf(type,"%c5X",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c5X",str[0]);
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else if (sys==SYS_SBS) sprintf(type,"%c5X",str[0]);
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}
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else if (str[1]=='6') {
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if (sys==SYS_GAL) sprintf(type,"%c6X",str[0]);
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else if (sys==SYS_QZS) sprintf(type,"%c6X",str[0]);
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else if (sys==SYS_CMP) sprintf(type,"%c6X",str[0]); /* ver.2.12 B3 */
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}
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else if (str[1]=='7') {
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if (sys==SYS_GAL) sprintf(type,"%c7X",str[0]);
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else if (sys==SYS_CMP) sprintf(type,"%c7X",str[0]); /* ver.2.12 B2b */
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}
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else if (str[1]=='8') {
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if (sys==SYS_GAL) sprintf(type,"%c8X",str[0]);
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}
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trace(3,"convcode: ver=%.2f sys=%2d type= %s -> %s\n",ver,sys,str,type);
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}
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/* decode RINEX observation data file header ---------------------------------*/
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static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys,
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char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
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{
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/* default codes for unknown code */
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const char frqcodes[]="1256789";
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const char *defcodes[]={
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"CWX ", /* GPS: L125____ */
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"CCXX X ", /* GLO: L1234_6_ */
|
|
"CXXXXX ", /* GAL: L125678_ */
|
|
"CXXX ", /* QZS: L1256___ */
|
|
"C X ", /* SBS: L1_5____ */
|
|
"XIXIIX ", /* BDS: L125678_ */
|
|
" A A" /* IRN: L__5___9 */
|
|
};
|
|
double del[3];
|
|
int i,j,k,n,nt,prn,fcn;
|
|
const char *p;
|
|
char *label=buff+60,str[4];
|
|
|
|
trace(4,"decode_obsh: ver=%.2f\n",ver);
|
|
|
|
if (strstr(label,"MARKER NAME" )) {
|
|
if (sta) setstr(sta->name,buff,60);
|
|
}
|
|
else if (strstr(label,"MARKER NUMBER" )) { /* opt */
|
|
if (sta) setstr(sta->marker,buff,20);
|
|
}
|
|
else if (strstr(label,"MARKER TYPE" )) ; /* ver.3 */
|
|
else if (strstr(label,"OBSERVER / AGENCY" )) ;
|
|
else if (strstr(label,"REC # / TYPE / VERS" )) {
|
|
if (sta) {
|
|
setstr(sta->recsno, buff, 20);
|
|
setstr(sta->rectype,buff+20,20);
|
|
setstr(sta->recver, buff+40,20);
|
|
}
|
|
}
|
|
else if (strstr(label,"ANT # / TYPE" )) {
|
|
if (sta) {
|
|
setstr(sta->antsno,buff ,20);
|
|
setstr(sta->antdes,buff+20,20);
|
|
}
|
|
}
|
|
else if (strstr(label,"APPROX POSITION XYZ" )) {
|
|
if (sta) {
|
|
for (i=0,j=0;i<3;i++,j+=14) sta->pos[i]=str2num(buff,j,14);
|
|
}
|
|
}
|
|
else if (strstr(label,"ANTENNA: DELTA H/E/N")) {
|
|
if (sta) {
|
|
for (i=0,j=0;i<3;i++,j+=14) del[i]=str2num(buff,j,14);
|
|
sta->del[2]=del[0]; /* h */
|
|
sta->del[0]=del[1]; /* e */
|
|
sta->del[1]=del[2]; /* n */
|
|
}
|
|
}
|
|
else if (strstr(label,"ANTENNA: DELTA X/Y/Z")) ; /* opt ver.3 */
|
|
else if (strstr(label,"ANTENNA: PHASECENTER")) ; /* opt ver.3 */
|
|
else if (strstr(label,"ANTENNA: B.SIGHT XYZ")) ; /* opt ver.3 */
|
|
else if (strstr(label,"ANTENNA: ZERODIR AZI")) ; /* opt ver.3 */
|
|
else if (strstr(label,"ANTENNA: ZERODIR XYZ")) ; /* opt ver.3 */
|
|
else if (strstr(label,"CENTER OF MASS: XYZ" )) ; /* opt ver.3 */
|
|
else if (strstr(label,"SYS / # / OBS TYPES" )) { /* ver.3 */
|
|
if (!(p=strchr(syscodes,buff[0]))) {
|
|
trace(2,"invalid system code: sys=%c\n",buff[0]);
|
|
return;
|
|
}
|
|
i=(int)(p-syscodes);
|
|
n=(int)str2num(buff,3,3);
|
|
for (j=nt=0,k=7;j<n;j++,k+=4) {
|
|
if (k>58) {
|
|
if (!fgets(buff,MAXRNXLEN,fp)) break;
|
|
k=7;
|
|
}
|
|
if (nt<MAXOBSTYPE-1) setstr(tobs[i][nt++],buff+k,3);
|
|
}
|
|
*tobs[i][nt]='\0';
|
|
|
|
/* change BDS B1 code: 3.02 */
|
|
if (i==5&&fabs(ver-3.02)<1e-3) {
|
|
for (j=0;j<nt;j++) if (tobs[i][j][1]=='1') tobs[i][j][1]='2';
|
|
}
|
|
/* if unknown code in ver.3, set default code */
|
|
for (j=0;j<nt;j++) {
|
|
if (tobs[i][j][2]) continue;
|
|
if (!(p=strchr(frqcodes,tobs[i][j][1]))) continue;
|
|
tobs[i][j][2]=defcodes[i][(int)(p-frqcodes)];
|
|
trace(2,"set default for unknown code: sys=%c code=%s\n",buff[0],
|
|
tobs[i][j]);
|
|
}
|
|
}
|
|
else if (strstr(label,"WAVELENGTH FACT L1/2")) ; /* opt ver.2 */
|
|
else if (strstr(label,"# / TYPES OF OBSERV" )) { /* ver.2 */
|
|
n=(int)str2num(buff,0,6);
|
|
for (i=nt=0,j=10;i<n;i++,j+=6) {
|
|
if (j>58) {
|
|
if (!fgets(buff,MAXRNXLEN,fp)) break;
|
|
j=10;
|
|
}
|
|
if (nt>=MAXOBSTYPE-1) continue;
|
|
if (ver<=2.99) {
|
|
setstr(str,buff+j,2);
|
|
convcode(ver,SYS_GPS,str,tobs[0][nt]);
|
|
convcode(ver,SYS_GLO,str,tobs[1][nt]);
|
|
convcode(ver,SYS_GAL,str,tobs[2][nt]);
|
|
convcode(ver,SYS_QZS,str,tobs[3][nt]);
|
|
convcode(ver,SYS_SBS,str,tobs[4][nt]);
|
|
convcode(ver,SYS_CMP,str,tobs[5][nt]);
|
|
}
|
|
nt++;
|
|
}
|
|
*tobs[0][nt]='\0';
|
|
}
|
|
else if (strstr(label,"SIGNAL STRENGTH UNIT")) ; /* opt ver.3 */
|
|
else if (strstr(label,"INTERVAL" )) ; /* opt */
|
|
else if (strstr(label,"TIME OF FIRST OBS" )) {
|
|
if (!strncmp(buff+48,"GPS",3)) *tsys=TSYS_GPS;
|
|
else if (!strncmp(buff+48,"GLO",3)) *tsys=TSYS_UTC;
|
|
else if (!strncmp(buff+48,"GAL",3)) *tsys=TSYS_GAL;
|
|
else if (!strncmp(buff+48,"QZS",3)) *tsys=TSYS_QZS; /* ver.3.02 */
|
|
else if (!strncmp(buff+48,"BDT",3)) *tsys=TSYS_CMP; /* ver.3.02 */
|
|
else if (!strncmp(buff+48,"IRN",3)) *tsys=TSYS_IRN; /* ver.3.03 */
|
|
}
|
|
else if (strstr(label,"TIME OF LAST OBS" )) ; /* opt */
|
|
else if (strstr(label,"RCV CLOCK OFFS APPL" )) ; /* opt */
|
|
else if (strstr(label,"SYS / DCBS APPLIED" )) ; /* opt ver.3 */
|
|
else if (strstr(label,"SYS / PCVS APPLIED" )) ; /* opt ver.3 */
|
|
else if (strstr(label,"SYS / SCALE FACTOR" )) ; /* opt ver.3 */
|
|
else if (strstr(label,"SYS / PHASE SHIFTS" )) ; /* ver.3.01 */
|
|
else if (strstr(label,"GLONASS SLOT / FRQ #")) { /* ver.3.02 */
|
|
for (i=0;i<8;i++) {
|
|
if (buff[4+i*7]!='R') continue;
|
|
prn=(int)str2num(buff,5+i*7,2);
|
|
fcn=(int)str2num(buff,8+i*7,2);
|
|
if (prn<1||prn>MAXPRNGLO||fcn<-7||fcn>6) continue;
|
|
if (nav) nav->glo_fcn[prn-1]=fcn+8;
|
|
}
|
|
}
|
|
else if (strstr(label,"GLONASS COD/PHS/BIS" )) { /* ver.3.02 */
|
|
if (sta) {
|
|
sta->glo_cp_bias[0]=str2num(buff, 5,8);
|
|
sta->glo_cp_bias[1]=str2num(buff,18,8);
|
|
sta->glo_cp_bias[2]=str2num(buff,31,8);
|
|
sta->glo_cp_bias[3]=str2num(buff,44,8);
|
|
}
|
|
}
|
|
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
|
|
if (nav) {
|
|
nav->utc_gps[4]=str2num(buff, 0,6);
|
|
nav->utc_gps[7]=str2num(buff, 6,6);
|
|
nav->utc_gps[5]=str2num(buff,12,6);
|
|
nav->utc_gps[6]=str2num(buff,18,6);
|
|
}
|
|
}
|
|
else if (strstr(label,"# OF SATELLITES" )) { /* opt */
|
|
/* skip */ ;
|
|
}
|
|
else if (strstr(label,"PRN / # OF OBS" )) { /* opt */
|
|
/* skip */ ;
|
|
}
|
|
}
|
|
/* decode RINEX NAV header ---------------------------------------------------*/
|
|
static void decode_navh(char *buff, nav_t *nav)
|
|
{
|
|
int i,j;
|
|
char *label=buff+60;
|
|
|
|
trace(4,"decode_navh:\n");
|
|
|
|
if (strstr(label,"ION ALPHA" )) { /* opt ver.2 */
|
|
if (nav) {
|
|
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
|
|
}
|
|
}
|
|
else if (strstr(label,"ION BETA" )) { /* opt ver.2 */
|
|
if (nav) {
|
|
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
|
|
}
|
|
}
|
|
else if (strstr(label,"DELTA-UTC: A0,A1,T,W")) { /* opt ver.2 */
|
|
if (nav) {
|
|
for (i=0,j=3;i<2;i++,j+=19) nav->utc_gps[i]=str2num(buff,j,19);
|
|
for (;i<4;i++,j+=9) nav->utc_gps[i]=str2num(buff,j,9);
|
|
}
|
|
}
|
|
else if (strstr(label,"IONOSPHERIC CORR" )) { /* opt ver.3 */
|
|
if (nav) {
|
|
if (!strncmp(buff,"GPSA",4)) {
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"GPSB",4)) {
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"GAL",3)) {
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gal[i]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"QZSA",4)) { /* v.3.02 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"QZSB",4)) { /* v.3.02 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i+4]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"BDSA",4)) { /* v.3.02 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"BDSB",4)) { /* v.3.02 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i+4]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"IRNA",4)) { /* v.3.03 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_irn[i]=str2num(buff,j,12);
|
|
}
|
|
else if (!strncmp(buff,"IRNB",4)) { /* v.3.03 */
|
|
for (i=0,j=5;i<4;i++,j+=12) nav->ion_irn[i+4]=str2num(buff,j,12);
|
|
}
|
|
}
|
|
}
|
|
else if (strstr(label,"TIME SYSTEM CORR" )) { /* opt ver.3 */
|
|
if (nav) {
|
|
if (!strncmp(buff,"GPUT",4)) {
|
|
nav->utc_gps[0]=str2num(buff, 5,17);
|
|
nav->utc_gps[1]=str2num(buff,22,16);
|
|
nav->utc_gps[2]=str2num(buff,38, 7);
|
|
nav->utc_gps[3]=str2num(buff,45, 5);
|
|
}
|
|
else if (!strncmp(buff,"GLUT",4)) {
|
|
nav->utc_glo[0]=-str2num(buff,5,17); /* tau_C */
|
|
}
|
|
else if (!strncmp(buff,"GLGP",4)) {
|
|
nav->utc_glo[1]=str2num(buff, 5,17); /* tau_GPS */
|
|
}
|
|
else if (!strncmp(buff,"GAUT",4)) { /* v.3.02 */
|
|
nav->utc_gal[0]=str2num(buff, 5,17);
|
|
nav->utc_gal[1]=str2num(buff,22,16);
|
|
nav->utc_gal[2]=str2num(buff,38, 7);
|
|
nav->utc_gal[3]=str2num(buff,45, 5);
|
|
}
|
|
else if (!strncmp(buff,"QZUT",4)) { /* v.3.02 */
|
|
nav->utc_qzs[0]=str2num(buff, 5,17);
|
|
nav->utc_qzs[1]=str2num(buff,22,16);
|
|
nav->utc_qzs[2]=str2num(buff,38, 7);
|
|
nav->utc_qzs[3]=str2num(buff,45, 5);
|
|
}
|
|
else if (!strncmp(buff,"BDUT",4)) { /* v.3.02 */
|
|
nav->utc_cmp[0]=str2num(buff, 5,17);
|
|
nav->utc_cmp[1]=str2num(buff,22,16);
|
|
nav->utc_cmp[2]=str2num(buff,38, 7);
|
|
nav->utc_cmp[3]=str2num(buff,45, 5);
|
|
}
|
|
else if (!strncmp(buff,"SBUT",4)) { /* v.3.02 */
|
|
nav->utc_sbs[0]=str2num(buff, 5,17);
|
|
nav->utc_sbs[1]=str2num(buff,22,16);
|
|
nav->utc_sbs[2]=str2num(buff,38, 7);
|
|
nav->utc_sbs[3]=str2num(buff,45, 5);
|
|
}
|
|
else if (!strncmp(buff,"IRUT",4)) { /* v.3.03 */
|
|
nav->utc_irn[0]=str2num(buff, 5,17);
|
|
nav->utc_irn[1]=str2num(buff,22,16);
|
|
nav->utc_irn[2]=str2num(buff,38, 7);
|
|
nav->utc_irn[3]=str2num(buff,45, 5);
|
|
nav->utc_irn[8]=0.0; /* A2 */
|
|
}
|
|
}
|
|
}
|
|
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
|
|
if (nav) {
|
|
nav->utc_gps[4]=str2num(buff, 0,6);
|
|
nav->utc_gps[7]=str2num(buff, 6,6);
|
|
nav->utc_gps[5]=str2num(buff,12,6);
|
|
nav->utc_gps[6]=str2num(buff,18,6);
|
|
}
|
|
}
|
|
}
|
|
/* decode GNAV header --------------------------------------------------------*/
|
|
static void decode_gnavh(char *buff, nav_t *nav)
|
|
{
|
|
char *label=buff+60;
|
|
|
|
trace(4,"decode_gnavh:\n");
|
|
|
|
if (strstr(label,"CORR TO SYSTEM TIME" )) {} /* opt */
|
|
else if (strstr(label,"LEAP SECONDS" )) {} /* opt */
|
|
}
|
|
/* decode GEO NAV header -----------------------------------------------------*/
|
|
static void decode_hnavh(char *buff, nav_t *nav)
|
|
{
|
|
char *label=buff+60;
|
|
|
|
trace(4,"decode_hnavh:\n");
|
|
|
|
if (strstr(label,"CORR TO SYSTEM TIME" )) {} /* opt */
|
|
else if (strstr(label,"D-UTC A0,A1,T,W,S,U" )) {} /* opt */
|
|
else if (strstr(label,"LEAP SECONDS" )) {} /* opt */
|
|
}
|
|
/* read RINEX file header ----------------------------------------------------*/
|
|
static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
|
|
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
|
|
{
|
|
char buff[MAXRNXLEN],*label=buff+60;
|
|
int i=0;
|
|
|
|
trace(3,"readrnxh:\n");
|
|
|
|
*ver=2.10; *type=' '; *sys=SYS_GPS;
|
|
|
|
while (fgets(buff,MAXRNXLEN,fp)) {
|
|
|
|
if (strlen(buff)<=60) {
|
|
continue;
|
|
}
|
|
else if (strstr(label,"RINEX VERSION / TYPE")) {
|
|
*ver=str2num(buff,0,9);
|
|
*type=*(buff+20);
|
|
|
|
/* satellite system */
|
|
switch (*(buff+40)) {
|
|
case ' ':
|
|
case 'G': *sys=SYS_GPS; *tsys=TSYS_GPS; break;
|
|
case 'R': *sys=SYS_GLO; *tsys=TSYS_UTC; break;
|
|
case 'E': *sys=SYS_GAL; *tsys=TSYS_GAL; break; /* v.2.12 */
|
|
case 'S': *sys=SYS_SBS; *tsys=TSYS_GPS; break;
|
|
case 'J': *sys=SYS_QZS; *tsys=TSYS_QZS; break; /* v.3.02 */
|
|
case 'C': *sys=SYS_CMP; *tsys=TSYS_CMP; break; /* v.2.12 */
|
|
case 'I': *sys=SYS_IRN; *tsys=TSYS_IRN; break; /* v.3.03 */
|
|
case 'M': *sys=SYS_NONE; *tsys=TSYS_GPS; break; /* mixed */
|
|
default :
|
|
trace(2,"not supported satellite system: %c\n",*(buff+40));
|
|
break;
|
|
}
|
|
continue;
|
|
}
|
|
else if (strstr(label,"PGM / RUN BY / DATE")) {
|
|
continue;
|
|
}
|
|
else if (strstr(label,"COMMENT")) {
|
|
continue;
|
|
}
|
|
switch (*type) { /* file type */
|
|
case 'O': decode_obsh(fp,buff,*ver,tsys,tobs,nav,sta); break;
|
|
case 'N': decode_navh (buff,nav); break;
|
|
case 'G': decode_gnavh(buff,nav); break;
|
|
case 'H': decode_hnavh(buff,nav); break;
|
|
case 'J': decode_navh (buff,nav); break; /* extension */
|
|
case 'L': decode_navh (buff,nav); break; /* extension */
|
|
}
|
|
if (strstr(label,"END OF HEADER")) return 1;
|
|
|
|
if (++i>=MAXPOSHEAD&&*type==' ') break; /* no RINEX file */
|
|
}
|
|
return 0;
|
|
}
|
|
/* decode observation epoch --------------------------------------------------*/
|
|
static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,
|
|
int *flag, int *sats)
|
|
{
|
|
int i,j,n;
|
|
char satid[8]={'\0'};
|
|
|
|
trace(4,"decode_obsepoch: ver=%.2f\n",ver);
|
|
|
|
if (ver<=2.99) { /* ver.2 */
|
|
/* epoch flag: 3:new site,4:header info,5:external event */
|
|
*flag=(int)str2num(buff,28,1);
|
|
|
|
/* handle external event */
|
|
if (*flag == 5) {
|
|
str2time(buff,0,26,time);
|
|
}
|
|
|
|
if ((n=(int)str2num(buff,29,3))<=0) return 0;
|
|
|
|
if (3<=*flag&&*flag<=5) return n;
|
|
|
|
if (str2time(buff,0,26,time)) {
|
|
trace(2,"rinex obs invalid epoch: epoch=%26.26s\n",buff);
|
|
return 0;
|
|
}
|
|
for (i=0,j=32;i<n;i++,j+=3) {
|
|
if (j>=68) {
|
|
if (!fgets(buff,MAXRNXLEN,fp)) break;
|
|
j=32;
|
|
}
|
|
if (i<MAXOBS) {
|
|
strncpy(satid,buff+j,3);
|
|
sats[i]=satid2no(satid);
|
|
}
|
|
}
|
|
}
|
|
else { /* ver.3 */
|
|
*flag=(int)str2num(buff,31,1);
|
|
|
|
/* handle external event */
|
|
if (*flag == 5) {
|
|
str2time(buff,1,28,time);
|
|
}
|
|
|
|
if ((n=(int)str2num(buff,32,3))<=0) return 0;
|
|
|
|
if (3<=*flag&&*flag<=5) return n;
|
|
|
|
if (buff[0]!='>'||str2time(buff,1,28,time)) {
|
|
trace(2,"rinex obs invalid epoch: epoch=%29.29s\n",buff);
|
|
return 0;
|
|
}
|
|
}
|
|
trace(4,"decode_obsepoch: time=%s flag=%d\n",time_str(*time,3),*flag);
|
|
return n;
|
|
}
|
|
/* decode observation data ---------------------------------------------------*/
|
|
static int decode_obsdata(FILE *fp, char *buff, double ver, int mask,
|
|
sigind_t *index, obsd_t *obs)
|
|
{
|
|
sigind_t *ind;
|
|
double val[MAXOBSTYPE]={0};
|
|
uint8_t lli[MAXOBSTYPE]={0};
|
|
uint8_t std[MAXOBSTYPE]={0};
|
|
char satid[8]="";
|
|
int i,j,n,m,q,stat=1,p[MAXOBSTYPE],k[16],l[16],r[16];
|
|
|
|
trace(4,"decode_obsdata: ver=%.2f\n",ver);
|
|
|
|
if (ver>2.99) { /* ver.3 */
|
|
sprintf(satid,"%.3s",buff);
|
|
obs->sat=(uint8_t)satid2no(satid);
|
|
}
|
|
if (!obs->sat) {
|
|
trace(4,"decode_obsdata: unsupported sat sat=%s\n",satid);
|
|
stat=0;
|
|
}
|
|
else if (!(satsys(obs->sat,NULL)&mask)) {
|
|
stat=0;
|
|
}
|
|
/* read observation data fields */
|
|
switch (satsys(obs->sat,NULL)) {
|
|
case SYS_GLO: ind=index+1; break;
|
|
case SYS_GAL: ind=index+2; break;
|
|
case SYS_QZS: ind=index+3; break;
|
|
case SYS_SBS: ind=index+4; break;
|
|
case SYS_CMP: ind=index+5; break;
|
|
case SYS_IRN: ind=index+6; break;
|
|
default: ind=index ; break;
|
|
}
|
|
for (i=0,j=ver<=2.99?0:3;i<ind->n;i++,j+=16) {
|
|
|
|
if (ver<=2.99&&j>=80) { /* ver.2 */
|
|
if (!fgets(buff,MAXRNXLEN,fp)) break;
|
|
j=0;
|
|
}
|
|
if (stat) {
|
|
val[i]=str2num(buff,j,14)+ind->shift[i];
|
|
lli[i]=(uint8_t)str2num(buff,j+14,1)&3;
|
|
/* measurement std from receiver */
|
|
std[i]=(uint8_t)str2num(buff,j+15,1);
|
|
}
|
|
}
|
|
if (!stat) return 0;
|
|
|
|
for (i=0;i<NFREQ+NEXOBS;i++) {
|
|
obs->P[i]=obs->L[i]=0.0; obs->D[i]=0.0f;
|
|
obs->SNR[i]=obs->LLI[i]=obs->Lstd[i]=obs->Pstd[i]=obs->code[i]=0;
|
|
}
|
|
/* assign position in observation data */
|
|
for (i=n=m=q=0;i<ind->n;i++) {
|
|
|
|
p[i]=ind->idx[i];
|
|
|
|
if (ind->type[i]==0&&p[i]==0) k[n++]=i; /* C1? index */
|
|
if (ind->type[i]==0&&p[i]==1) l[m++]=i; /* C2? index */
|
|
if (ind->type[i]==0&&p[i]==2) r[q++]=i; /* C3? index */
|
|
}
|
|
|
|
/* if multiple codes (C1/P1,C2/P2), select higher priority */
|
|
if (n>=2) {
|
|
if (val[k[0]]==0.0&&val[k[1]]==0.0) {
|
|
p[k[0]]=-1; p[k[1]]=-1;
|
|
}
|
|
else if (val[k[0]]!=0.0&&val[k[1]]==0.0) {
|
|
p[k[0]]=0; p[k[1]]=-1;
|
|
}
|
|
else if (val[k[0]]==0.0&&val[k[1]]!=0.0) {
|
|
p[k[0]]=-1; p[k[1]]=0;
|
|
}
|
|
else if (ind->pri[k[1]]>ind->pri[k[0]]) {
|
|
p[k[1]]=0; p[k[0]]=NEXOBS<1?-1:NFREQ;
|
|
}
|
|
else {
|
|
p[k[0]]=0; p[k[1]]=NEXOBS<1?-1:NFREQ;
|
|
}
|
|
}
|
|
if (m>=2) {
|
|
if (val[l[0]]==0.0&&val[l[1]]==0.0) {
|
|
p[l[0]]=-1; p[l[1]]=-1;
|
|
}
|
|
else if (val[l[0]]!=0.0&&val[l[1]]==0.0) {
|
|
p[l[0]]=1; p[l[1]]=-1;
|
|
}
|
|
else if (val[l[0]]==0.0&&val[l[1]]!=0.0) {
|
|
p[l[0]]=-1; p[l[1]]=1;
|
|
}
|
|
else if (ind->pri[l[1]]>ind->pri[l[0]]) {
|
|
p[l[1]]=1; p[l[0]]=NEXOBS<2?-1:NFREQ+1;
|
|
}
|
|
else {
|
|
p[l[0]]=1; p[l[1]]=NEXOBS<2?-1:NFREQ+1;
|
|
}
|
|
}
|
|
if (q>=2) {
|
|
if (val[r[0]]==0.0&&val[r[1]]==0.0) {
|
|
p[r[0]]=-1; p[r[1]]=-1;
|
|
}
|
|
else if (val[r[0]]!=0.0&&val[r[1]]==0.0) {
|
|
p[l[0]]=1; p[l[1]]=-1;
|
|
}
|
|
else if (val[r[0]]==0.0&&val[r[1]]!=0.0) {
|
|
p[r[0]]=-1; p[r[1]]=1;
|
|
}
|
|
else if (ind->pri[r[1]]>ind->pri[r[0]]) {
|
|
p[r[1]]=1; p[r[0]]=NEXOBS<3?-1:NFREQ+2;
|
|
}
|
|
else {
|
|
p[r[0]]=1; p[r[1]]=NEXOBS<3?-1:NFREQ+2;
|
|
}
|
|
}
|
|
/* save observation data */
|
|
for (i=0;i<ind->n;i++) {
|
|
if (p[i]<0||(val[i]==0.0&&lli[i]==0)) continue;
|
|
switch (ind->type[i]) {
|
|
case 0: obs->P[p[i]]=val[i];
|
|
obs->code[p[i]]=ind->code[i];
|
|
obs->Pstd[p[i]]=std[i]>0?std[i]:1;
|
|
break;
|
|
case 1: obs->L[p[i]]=val[i];
|
|
obs->LLI[p[i]]=lli[i];
|
|
obs->Lstd[p[i]]=std[i]>0?std[i]:1;
|
|
break;
|
|
case 2: obs->D[p[i]]=(float)val[i]; break;
|
|
case 3: obs->SNR[p[i]]=(uint16_t)(val[i]/SNR_UNIT+0.5); break;
|
|
}
|
|
}
|
|
trace(4,"decode_obsdata: time=%s sat=%2d\n",time_str(obs->time,0),obs->sat);
|
|
return 1;
|
|
}
|
|
/* save cycle slips ----------------------------------------------------------*/
|
|
static void saveslips(uint8_t slips[][NFREQ+NEXOBS], obsd_t *data)
|
|
{
|
|
int i;
|
|
for (i=0;i<NFREQ+NEXOBS;i++) {
|
|
if (data->LLI[i]&1) slips[data->sat-1][i]|=LLI_SLIP;
|
|
}
|
|
}
|
|
/* restore cycle slips -------------------------------------------------------*/
|
|
static void restslips(uint8_t slips[][NFREQ+NEXOBS], obsd_t *data)
|
|
{
|
|
int i;
|
|
for (i=0;i<NFREQ+NEXOBS;i++) {
|
|
if (slips[data->sat-1][i]&1) data->LLI[i]|=LLI_SLIP;
|
|
slips[data->sat-1][i]=0;
|
|
}
|
|
}
|
|
/* add observation data ------------------------------------------------------*/
|
|
static int addobsdata(obs_t *obs, const obsd_t *data)
|
|
{
|
|
obsd_t *obs_data;
|
|
|
|
if (obs->nmax<=obs->n) {
|
|
if (obs->nmax<=0) obs->nmax=NINCOBS; else obs->nmax*=2;
|
|
if (!(obs_data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) {
|
|
trace(1,"addobsdata: malloc error n=%dx%d\n",sizeof(obsd_t),obs->nmax);
|
|
free(obs->data); obs->data=NULL; obs->n=obs->nmax=0;
|
|
return -1;
|
|
}
|
|
obs->data=obs_data;
|
|
}
|
|
obs->data[obs->n++]=*data;
|
|
return 1;
|
|
}
|
|
/* set system mask -----------------------------------------------------------*/
|
|
static int set_sysmask(const char *opt)
|
|
{
|
|
const char *p;
|
|
int mask=SYS_NONE;
|
|
|
|
if (!(p=strstr(opt,"-SYS="))) return SYS_ALL;
|
|
|
|
for (p+=5;*p&&*p!=' ';p++) {
|
|
switch (*p) {
|
|
case 'G': mask|=SYS_GPS; break;
|
|
case 'R': mask|=SYS_GLO; break;
|
|
case 'E': mask|=SYS_GAL; break;
|
|
case 'J': mask|=SYS_QZS; break;
|
|
case 'C': mask|=SYS_CMP; break;
|
|
case 'I': mask|=SYS_IRN; break;
|
|
case 'S': mask|=SYS_SBS; break;
|
|
}
|
|
}
|
|
return mask;
|
|
}
|
|
/* set signal index ----------------------------------------------------------*/
|
|
static void set_index(double ver, int sys, const char *opt,
|
|
char tobs[MAXOBSTYPE][4], sigind_t *ind)
|
|
{
|
|
const char *p;
|
|
char str[8],*optstr="";
|
|
double shift;
|
|
int i,j,k,n;
|
|
|
|
for (i=n=0;*tobs[i];i++,n++) {
|
|
ind->code[i]=obs2code(tobs[i]+1);
|
|
ind->type[i]=(p=strchr(obscodes,tobs[i][0]))?(int)(p-obscodes):0;
|
|
ind->idx[i]=code2idx(sys,ind->code[i]);
|
|
ind->pri[i]=getcodepri(sys,ind->code[i],opt);
|
|
ind->pos[i]=-1;
|
|
}
|
|
/* parse phase shift options */
|
|
switch (sys) {
|
|
case SYS_GPS: optstr="-GL%2s=%lf"; break;
|
|
case SYS_GLO: optstr="-RL%2s=%lf"; break;
|
|
case SYS_GAL: optstr="-EL%2s=%lf"; break;
|
|
case SYS_QZS: optstr="-JL%2s=%lf"; break;
|
|
case SYS_SBS: optstr="-SL%2s=%lf"; break;
|
|
case SYS_CMP: optstr="-CL%2s=%lf"; break;
|
|
case SYS_IRN: optstr="-IL%2s=%lf"; break;
|
|
}
|
|
for (p=opt;p&&(p=strchr(p,'-'));p++) {
|
|
if (sscanf(p,optstr,str,&shift)<2) continue;
|
|
for (i=0;i<n;i++) {
|
|
if (strcmp(code2obs(ind->code[i]),str)) continue;
|
|
ind->shift[i]=shift;
|
|
trace(2,"phase shift: sys=%2d tobs=%s shift=%.3f\n",sys,
|
|
tobs[i],shift);
|
|
}
|
|
}
|
|
/* assign index for highest priority code */
|
|
for (i=0;i<NFREQ;i++) {
|
|
for (j=0,k=-1;j<n;j++) {
|
|
if (ind->idx[j]==i&&ind->pri[j]&&(k<0||ind->pri[j]>ind->pri[k])) {
|
|
k=j;
|
|
}
|
|
}
|
|
if (k<0) continue;
|
|
|
|
for (j=0;j<n;j++) {
|
|
if (ind->code[j]==ind->code[k]) ind->pos[j]=i;
|
|
}
|
|
}
|
|
/* assign index of extended observation data */
|
|
for (i=0;i<NEXOBS;i++) {
|
|
for (j=0;j<n;j++) {
|
|
if (ind->code[j]&&ind->pri[j]&&ind->pos[j]<0) break;
|
|
}
|
|
if (j>=n) break;
|
|
|
|
for (k=0;k<n;k++) {
|
|
if (ind->code[k]==ind->code[j]) ind->pos[k]=NFREQ+i;
|
|
}
|
|
}
|
|
/* list rejected observation types */
|
|
for (i=0;i<n;i++) {
|
|
if (!ind->code[i]||!ind->pri[i]||ind->pos[i]>=0) continue;
|
|
trace(4,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]);
|
|
}
|
|
ind->n=n;
|
|
|
|
#if 0 /* for debug */
|
|
for (i=0;i<n;i++) {
|
|
trace(2,"set_index: sys=%2d,tobs=%s code=%2d pri=%2d idx=%d pos=%d shift=%5.2f\n",
|
|
sys,tobs[i],ind->code[i],ind->pri[i],ind->idx[i],ind->pos[i],
|
|
ind->shift[i]);
|
|
}
|
|
#endif
|
|
}
|
|
/* read RINEX observation data body ------------------------------------------*/
|
|
static int readrnxobsb(FILE *fp, const char *opt, double ver, int *tsys,
|
|
char tobs[][MAXOBSTYPE][4], int *flag, obsd_t *data,
|
|
sta_t *sta)
|
|
{
|
|
gtime_t time={0};
|
|
sigind_t index[NUMSYS]={{0}};
|
|
char buff[MAXRNXLEN];
|
|
int i=0,n=0,nsat=0,nsys=NUMSYS,sats[MAXOBS]={0},mask;
|
|
|
|
/* set system mask */
|
|
mask=set_sysmask(opt);
|
|
|
|
/* set signal index */
|
|
if (nsys>=1) set_index(ver,SYS_GPS,opt,tobs[0],index );
|
|
if (nsys>=2) set_index(ver,SYS_GLO,opt,tobs[1],index+1);
|
|
if (nsys>=3) set_index(ver,SYS_GAL,opt,tobs[2],index+2);
|
|
if (nsys>=4) set_index(ver,SYS_QZS,opt,tobs[3],index+3);
|
|
if (nsys>=5) set_index(ver,SYS_SBS,opt,tobs[4],index+4);
|
|
if (nsys>=6) set_index(ver,SYS_CMP,opt,tobs[5],index+5);
|
|
if (nsys>=7) set_index(ver,SYS_IRN,opt,tobs[6],index+6);
|
|
|
|
/* read record */
|
|
while (fgets(buff,MAXRNXLEN,fp)) {
|
|
|
|
/* decode observation epoch */
|
|
if (i==0) {
|
|
if ((nsat=decode_obsepoch(fp,buff,ver,&time,flag,sats))<=0 && (*flag != 5)) {
|
|
continue;
|
|
}
|
|
if (*flag == 5) {
|
|
data[0].eventime = time;
|
|
return 0;
|
|
}
|
|
}
|
|
else if ((*flag<=2||*flag==6)&&n<MAXOBS) {
|
|
data[n].time=time;
|
|
data[n].sat=(uint8_t)sats[i-1];
|
|
|
|
/* decode RINEX observation data */
|
|
if (decode_obsdata(fp,buff,ver,mask,index,data+n)) n++;
|
|
}
|
|
else if (*flag==3||*flag==4) { /* new site or header info follows */
|
|
|
|
/* decode RINEX observation data file header */
|
|
decode_obsh(fp,buff,ver,tsys,tobs,NULL,sta);
|
|
}
|
|
if (++i>nsat) return n;
|
|
}
|
|
return -1;
|
|
}
|
|
/* read RINEX observation data -----------------------------------------------*/
|
|
static int readrnxobs(FILE *fp, gtime_t ts, gtime_t te, double tint,
|
|
const char *opt, int rcv, double ver, int *tsys,
|
|
char tobs[][MAXOBSTYPE][4], obs_t *obs, sta_t *sta)
|
|
{
|
|
gtime_t eventime={0},time0={0},time1={0};
|
|
obsd_t *data;
|
|
uint8_t slips[MAXSAT][NFREQ+NEXOBS]={{0}};
|
|
int i,n,n1=0,flag=0,stat=0;
|
|
double dtime1=0;
|
|
|
|
trace(4,"readrnxobs: rcv=%d ver=%.2f tsys=%d\n",rcv,ver,*tsys);
|
|
|
|
if (!obs||rcv>MAXRCV) return 0;
|
|
|
|
if (!(data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))) return 0;
|
|
|
|
/* read RINEX observation data body */
|
|
while ((n=readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta))>=0&&stat>=0) {
|
|
|
|
if (flag == 5) {
|
|
eventime = data[0].eventime;
|
|
n = readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta);
|
|
if (fabs(timediff(data[0].time,time1)-dtime1)>=DTTOL)
|
|
n = readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta);
|
|
}
|
|
|
|
if (eventime.time==0 || obs->n-n1<=0 || timediff(eventime,time1)>=0) {
|
|
for (i=0;i<n;i++) data[i].eventime = eventime;
|
|
} else {
|
|
/* add event to previous epoch if delayed */
|
|
for (i=0;i<n1;i++) obs->data[obs->n-i-1].eventime = eventime;
|
|
for (i=0;i<n;i++) data[i].eventime=time0;
|
|
}
|
|
/* set to zero eventime for the next iteration */
|
|
eventime.time = 0;
|
|
eventime.sec = 0;
|
|
|
|
for (i=0;i<n;i++) {
|
|
|
|
/* UTC -> GPST */
|
|
if (*tsys==TSYS_UTC) data[i].time=utc2gpst(data[i].time);
|
|
|
|
/* save cycle slip */
|
|
saveslips(slips,data+i);
|
|
}
|
|
/* screen data by time */
|
|
if (n>0&&!screent(data[0].time,ts,te,tint)) continue;
|
|
|
|
for (i=0;i<n;i++) {
|
|
|
|
/* restore cycle slip */
|
|
restslips(slips,data+i);
|
|
|
|
data[i].rcv=(uint8_t)rcv;
|
|
|
|
/* save obs data */
|
|
if ((stat=addobsdata(obs,data+i))<0) break;
|
|
}
|
|
n1=n;dtime1=timediff(data[0].time,time1);time1=data[0].time;
|
|
}
|
|
trace(4,"readrnxobs: nobs=%d stat=%d\n",obs->n,stat);
|
|
|
|
free(data);
|
|
|
|
return stat;
|
|
}
|
|
/* decode ephemeris ----------------------------------------------------------*/
|
|
static int decode_eph(double ver, int sat, gtime_t toc, const double *data,
|
|
eph_t *eph)
|
|
{
|
|
eph_t eph0={0};
|
|
int sys;
|
|
|
|
trace(4,"decode_eph: ver=%.2f sat=%2d\n",ver,sat);
|
|
|
|
sys=satsys(sat,NULL);
|
|
|
|
if (!(sys&(SYS_GPS|SYS_GAL|SYS_QZS|SYS_CMP|SYS_IRN))) {
|
|
trace(4,"ephemeris error: invalid satellite sat=%2d\n",sat);
|
|
return 0;
|
|
}
|
|
*eph=eph0;
|
|
|
|
eph->sat=sat;
|
|
eph->toc=toc;
|
|
|
|
eph->f0=data[0];
|
|
eph->f1=data[1];
|
|
eph->f2=data[2];
|
|
|
|
eph->A=SQR(data[10]); eph->e=data[ 8]; eph->i0 =data[15]; eph->OMG0=data[13];
|
|
eph->omg =data[17]; eph->M0 =data[ 6]; eph->deln=data[ 5]; eph->OMGd=data[18];
|
|
eph->idot=data[19]; eph->crc=data[16]; eph->crs =data[ 4]; eph->cuc =data[ 7];
|
|
eph->cus =data[ 9]; eph->cic=data[12]; eph->cis =data[14];
|
|
|
|
if (sys==SYS_GPS||sys==SYS_QZS) {
|
|
eph->iode=(int)data[ 3]; /* IODE */
|
|
eph->iodc=(int)data[26]; /* IODC */
|
|
eph->toes= data[11]; /* Toe (s) in GPS week */
|
|
eph->week=(int)data[21]; /* GPS week */
|
|
eph->toe=adjweek(gpst2time(eph->week,data[11]),toc);
|
|
eph->ttr=adjweek(gpst2time(eph->week,data[27]),toc);
|
|
|
|
eph->code=(int)data[20]; /* GPS: codes on L2 ch */
|
|
eph->svh =(int)data[24]; /* SV health */
|
|
eph->sva=uraindex(data[23]); /* URA index (m->index) */
|
|
eph->flag=(int)data[22]; /* GPS: L2 P data flag */
|
|
|
|
eph->tgd[0]= data[25]; /* TGD */
|
|
if (sys==SYS_GPS) {
|
|
eph->fit=data[28]; /* fit interval (h) */
|
|
}
|
|
else {
|
|
eph->fit=data[28]==0.0?1.0:2.0; /* fit interval (0:1h,1:>2h) */
|
|
}
|
|
}
|
|
else if (sys==SYS_GAL) { /* GAL ver.3 */
|
|
eph->iode=(int)data[ 3]; /* IODnav */
|
|
eph->toes= data[11]; /* Toe (s) in Galileo week */
|
|
eph->week=(int)data[21]; /* Galileo week = GPS week */
|
|
eph->toe=adjweek(gpst2time(eph->week,data[11]),toc);
|
|
eph->ttr=adjweek(gpst2time(eph->week,data[27]),toc);
|
|
|
|
eph->code=(int)data[20]; /* data sources */
|
|
/* bit 0 set: I/NAV E1-B */
|
|
/* bit 1 set: F/NAV E5a-I */
|
|
/* bit 2 set: F/NAV E5b-I */
|
|
/* bit 8 set: af0-af2 toc are for E5a.E1 */
|
|
/* bit 9 set: af0-af2 toc are for E5b.E1 */
|
|
eph->svh =(int)data[24]; /* sv health */
|
|
/* bit 0: E1B DVS */
|
|
/* bit 1-2: E1B HS */
|
|
/* bit 3: E5a DVS */
|
|
/* bit 4-5: E5a HS */
|
|
/* bit 6: E5b DVS */
|
|
/* bit 7-8: E5b HS */
|
|
eph->sva =sisa_index(data[23]); /* sisa (m->index) */
|
|
|
|
eph->tgd[0]= data[25]; /* BGD E5a/E1 */
|
|
eph->tgd[1]= data[26]; /* BGD E5b/E1 */
|
|
}
|
|
else if (sys==SYS_CMP) { /* BeiDou v.3.02 */
|
|
eph->toc=bdt2gpst(eph->toc); /* bdt -> gpst */
|
|
eph->iode=(int)data[ 3]; /* AODE */
|
|
eph->iodc=(int)data[28]; /* AODC */
|
|
eph->toes= data[11]; /* Toe (s) in BDT week */
|
|
eph->week=(int)data[21]; /* bdt week */
|
|
eph->toe=bdt2gpst(bdt2time(eph->week,data[11])); /* BDT -> GPST */
|
|
eph->ttr=bdt2gpst(bdt2time(eph->week,data[27])); /* BDT -> GPST */
|
|
eph->toe=adjweek(eph->toe,toc);
|
|
eph->ttr=adjweek(eph->ttr,toc);
|
|
|
|
eph->svh =(int)data[24]; /* satH1 */
|
|
eph->sva=uraindex(data[23]); /* URA index (m->index) */
|
|
|
|
eph->tgd[0]= data[25]; /* TGD1 B1/B3 */
|
|
eph->tgd[1]= data[26]; /* TGD2 B2/B3 */
|
|
}
|
|
else if (sys==SYS_IRN) { /* IRNSS v.3.03 */
|
|
eph->iode=(int)data[ 3]; /* IODEC */
|
|
eph->toes= data[11]; /* Toe (s) in IRNSS week */
|
|
eph->week=(int)data[21]; /* IRNSS week */
|
|
eph->toe=adjweek(gpst2time(eph->week,data[11]),toc);
|
|
eph->ttr=adjweek(gpst2time(eph->week,data[27]),toc);
|
|
eph->svh =(int)data[24]; /* SV health */
|
|
eph->sva=uraindex(data[23]); /* URA index (m->index) */
|
|
eph->tgd[0]= data[25]; /* TGD */
|
|
}
|
|
if (eph->iode<0||1023<eph->iode) {
|
|
trace(2,"rinex nav invalid: sat=%2d iode=%d\n",sat,eph->iode);
|
|
}
|
|
if (eph->iodc<0||1023<eph->iodc) {
|
|
trace(2,"rinex nav invalid: sat=%2d iodc=%d\n",sat,eph->iodc);
|
|
}
|
|
return 1;
|
|
}
|
|
/* decode GLONASS ephemeris --------------------------------------------------*/
|
|
static int decode_geph(double ver, int sat, gtime_t toc, double *data,
|
|
geph_t *geph)
|
|
{
|
|
geph_t geph0={0};
|
|
gtime_t tof;
|
|
double tow,tod;
|
|
int week,dow;
|
|
|
|
trace(4,"decode_geph: ver=%.2f sat=%2d\n",ver,sat);
|
|
|
|
if (satsys(sat,NULL)!=SYS_GLO) {
|
|
trace(4,"glonass ephemeris error: invalid satellite sat=%2d\n",sat);
|
|
return 0;
|
|
}
|
|
*geph=geph0;
|
|
|
|
geph->sat=sat;
|
|
|
|
/* Toc rounded by 15 min in utc */
|
|
tow=time2gpst(toc,&week);
|
|
toc=gpst2time(week,floor((tow+450.0)/900.0)*900);
|
|
dow=(int)floor(tow/86400.0);
|
|
|
|
/* time of frame in UTC */
|
|
tod=ver<=2.99?data[2]:fmod(data[2],86400.0); /* Tod (v.2), Tow (v.3) in UTC */
|
|
tof=gpst2time(week,tod+dow*86400.0);
|
|
tof=adjday(tof,toc);
|
|
|
|
geph->toe=utc2gpst(toc); /* Toc (GPST) */
|
|
geph->tof=utc2gpst(tof); /* Tof (GPST) */
|
|
|
|
/* IODE = Tb (7bit), Tb =index of UTC+3H within current day */
|
|
geph->iode=(int)(fmod(tow+10800.0,86400.0)/900.0+0.5);
|
|
|
|
geph->taun=-data[0]; /* -taun */
|
|
geph->gamn= data[1]; /* +gamman */
|
|
|
|
geph->pos[0]=data[3]*1E3; geph->pos[1]=data[7]*1E3; geph->pos[2]=data[11]*1E3;
|
|
geph->vel[0]=data[4]*1E3; geph->vel[1]=data[8]*1E3; geph->vel[2]=data[12]*1E3;
|
|
geph->acc[0]=data[5]*1E3; geph->acc[1]=data[9]*1E3; geph->acc[2]=data[13]*1E3;
|
|
|
|
geph->svh=(int)data[ 6];
|
|
geph->frq=(int)data[10];
|
|
#if 0 /* output dtaun instead of age */
|
|
geph->dtaun=data[14];
|
|
#else
|
|
geph->age=(int)data[14];
|
|
#endif
|
|
/* some receiver output >128 for minus frequency number */
|
|
if (geph->frq>128) geph->frq-=256;
|
|
|
|
if (geph->frq<MINFREQ_GLO||MAXFREQ_GLO<geph->frq) {
|
|
trace(2,"rinex gnav invalid freq: sat=%2d fn=%d\n",sat,geph->frq);
|
|
}
|
|
return 1;
|
|
}
|
|
/* decode GEO ephemeris ------------------------------------------------------*/
|
|
static int decode_seph(double ver, int sat, gtime_t toc, double *data,
|
|
seph_t *seph)
|
|
{
|
|
seph_t seph0={0};
|
|
int week;
|
|
|
|
trace(4,"decode_seph: ver=%.2f sat=%2d\n",ver,sat);
|
|
|
|
if (satsys(sat,NULL)!=SYS_SBS) {
|
|
trace(4,"geo ephemeris error: invalid satellite sat=%2d\n",sat);
|
|
return 0;
|
|
}
|
|
*seph=seph0;
|
|
|
|
seph->sat=sat;
|
|
seph->t0 =toc;
|
|
|
|
time2gpst(toc,&week);
|
|
seph->tof=adjweek(gpst2time(week,data[2]),toc);
|
|
|
|
seph->af0=data[0];
|
|
seph->af1=data[1];
|
|
|
|
seph->pos[0]=data[3]*1E3; seph->pos[1]=data[7]*1E3; seph->pos[2]=data[11]*1E3;
|
|
seph->vel[0]=data[4]*1E3; seph->vel[1]=data[8]*1E3; seph->vel[2]=data[12]*1E3;
|
|
seph->acc[0]=data[5]*1E3; seph->acc[1]=data[9]*1E3; seph->acc[2]=data[13]*1E3;
|
|
|
|
seph->svh=(int)data[6];
|
|
seph->sva=uraindex(data[10]);
|
|
|
|
return 1;
|
|
}
|
|
/* read RINEX navigation data body -------------------------------------------*/
|
|
static int readrnxnavb(FILE *fp, const char *opt, double ver, int sys,
|
|
int *type, eph_t *eph, geph_t *geph, seph_t *seph)
|
|
{
|
|
gtime_t toc;
|
|
double data[64];
|
|
int i=0,j,prn,sat=0,sp=3,mask;
|
|
char buff[MAXRNXLEN],id[8]="",*p;
|
|
|
|
trace(4,"readrnxnavb: ver=%.2f sys=%d\n",ver,sys);
|
|
|
|
/* set system mask */
|
|
mask=set_sysmask(opt);
|
|
|
|
while (fgets(buff,MAXRNXLEN,fp)) {
|
|
|
|
if (i==0) {
|
|
|
|
/* decode satellite field */
|
|
if (ver>=3.0||sys==SYS_GAL||sys==SYS_QZS) { /* ver.3 or GAL/QZS */
|
|
sprintf(id,"%.3s",buff);
|
|
sat=satid2no(id);
|
|
sp=4;
|
|
if (ver>=3.0) {
|
|
sys=satsys(sat,NULL);
|
|
if (!sys) {
|
|
sys=(id[0]=='S')?SYS_SBS:((id[0]=='R')?SYS_GLO:SYS_GPS);
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
prn=(int)str2num(buff,0,2);
|
|
|
|
if (sys==SYS_SBS) {
|
|
sat=satno(SYS_SBS,prn+100);
|
|
}
|
|
else if (sys==SYS_GLO) {
|
|
sat=satno(SYS_GLO,prn);
|
|
}
|
|
else if (93<=prn&&prn<=97) { /* extension */
|
|
sat=satno(SYS_QZS,prn+100);
|
|
}
|
|
else sat=satno(SYS_GPS,prn);
|
|
}
|
|
/* decode Toc field */
|
|
if (str2time(buff+sp,0,19,&toc)) {
|
|
trace(2,"rinex nav toc error: %23.23s\n",buff);
|
|
return 0;
|
|
}
|
|
/* decode data fields */
|
|
for (j=0,p=buff+sp+19;j<3;j++,p+=19) {
|
|
data[i++]=str2num(p,0,19);
|
|
}
|
|
}
|
|
else {
|
|
/* decode data fields */
|
|
for (j=0,p=buff+sp;j<4;j++,p+=19) {
|
|
data[i++]=str2num(p,0,19);
|
|
}
|
|
/* decode ephemeris */
|
|
if (sys==SYS_GLO&&i>=15) {
|
|
if (!(mask&sys)) return 0;
|
|
*type=1;
|
|
return decode_geph(ver,sat,toc,data,geph);
|
|
}
|
|
else if (sys==SYS_SBS&&i>=15) {
|
|
if (!(mask&sys)) return 0;
|
|
*type=2;
|
|
return decode_seph(ver,sat,toc,data,seph);
|
|
}
|
|
else if (i>=31) {
|
|
if (!(mask&sys)) return 0;
|
|
*type=0;
|
|
return decode_eph(ver,sat,toc,data,eph);
|
|
}
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
/* add ephemeris to navigation data ------------------------------------------*/
|
|
static int add_eph(nav_t *nav, const eph_t *eph)
|
|
{
|
|
eph_t *nav_eph;
|
|
|
|
if (nav->nmax<=nav->n) {
|
|
nav->nmax+=1024;
|
|
if (!(nav_eph=(eph_t *)realloc(nav->eph,sizeof(eph_t)*nav->nmax))) {
|
|
trace(1,"decode_eph malloc error: n=%d\n",nav->nmax);
|
|
free(nav->eph); nav->eph=NULL; nav->n=nav->nmax=0;
|
|
return 0;
|
|
}
|
|
nav->eph=nav_eph;
|
|
}
|
|
nav->eph[nav->n++]=*eph;
|
|
return 1;
|
|
}
|
|
static int add_geph(nav_t *nav, const geph_t *geph)
|
|
{
|
|
geph_t *nav_geph;
|
|
|
|
if (nav->ngmax<=nav->ng) {
|
|
nav->ngmax+=1024;
|
|
if (!(nav_geph=(geph_t *)realloc(nav->geph,sizeof(geph_t)*nav->ngmax))) {
|
|
trace(1,"decode_geph malloc error: n=%d\n",nav->ngmax);
|
|
free(nav->geph); nav->geph=NULL; nav->ng=nav->ngmax=0;
|
|
return 0;
|
|
}
|
|
nav->geph=nav_geph;
|
|
}
|
|
nav->geph[nav->ng++]=*geph;
|
|
return 1;
|
|
}
|
|
static int add_seph(nav_t *nav, const seph_t *seph)
|
|
{
|
|
seph_t *nav_seph;
|
|
|
|
if (nav->nsmax<=nav->ns) {
|
|
nav->nsmax+=1024;
|
|
if (!(nav_seph=(seph_t *)realloc(nav->seph,sizeof(seph_t)*nav->nsmax))) {
|
|
trace(1,"decode_seph malloc error: n=%d\n",nav->nsmax);
|
|
free(nav->seph); nav->seph=NULL; nav->ns=nav->nsmax=0;
|
|
return 0;
|
|
}
|
|
nav->seph=nav_seph;
|
|
}
|
|
nav->seph[nav->ns++]=*seph;
|
|
return 1;
|
|
}
|
|
/* read RINEX navigation data ------------------------------------------------*/
|
|
static int readrnxnav(FILE *fp, const char *opt, double ver, int sys,
|
|
nav_t *nav)
|
|
{
|
|
eph_t eph;
|
|
geph_t geph;
|
|
seph_t seph;
|
|
int stat,type;
|
|
|
|
trace(3,"readrnxnav: ver=%.2f sys=%d\n",ver,sys);
|
|
|
|
if (!nav) return 0;
|
|
|
|
/* read RINEX navigation data body */
|
|
while ((stat=readrnxnavb(fp,opt,ver,sys,&type,&eph,&geph,&seph))>=0) {
|
|
|
|
/* add ephemeris to navigation data */
|
|
if (stat) {
|
|
switch (type) {
|
|
case 1 : stat=add_geph(nav,&geph); break;
|
|
case 2 : stat=add_seph(nav,&seph); break;
|
|
default: stat=add_eph (nav,&eph ); break;
|
|
}
|
|
if (!stat) return 0;
|
|
}
|
|
}
|
|
return nav->n>0||nav->ng>0||nav->ns>0;
|
|
}
|
|
/* read RINEX clock ----------------------------------------------------------*/
|
|
static int readrnxclk(FILE *fp, const char *opt, int index, nav_t *nav)
|
|
{
|
|
pclk_t *nav_pclk;
|
|
gtime_t time;
|
|
double data[2];
|
|
int i,j,sat,mask;
|
|
char buff[MAXRNXLEN],satid[8]="";
|
|
|
|
trace(3,"readrnxclk: index=%d\n", index);
|
|
|
|
if (!nav) return 0;
|
|
|
|
/* set system mask */
|
|
mask=set_sysmask(opt);
|
|
|
|
while (fgets(buff,sizeof(buff),fp)) {
|
|
|
|
if (str2time(buff,8,26,&time)) {
|
|
trace(2,"rinex clk invalid epoch: %34.34s\n",buff);
|
|
continue;
|
|
}
|
|
strncpy(satid,buff+3,4);
|
|
|
|
/* only read AS (satellite clock) record */
|
|
if (strncmp(buff,"AS",2)||!(sat=satid2no(satid))) continue;
|
|
|
|
if (!(satsys(sat,NULL)&mask)) continue;
|
|
|
|
for (i=0,j=40;i<2;i++,j+=20) data[i]=str2num(buff,j,19);
|
|
|
|
if (nav->nc>=nav->ncmax) {
|
|
nav->ncmax+=1024;
|
|
if (!(nav_pclk=(pclk_t *)realloc(nav->pclk,sizeof(pclk_t)*(nav->ncmax)))) {
|
|
trace(1,"readrnxclk malloc error: nmax=%d\n",nav->ncmax);
|
|
free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0;
|
|
return -1;
|
|
}
|
|
nav->pclk=nav_pclk;
|
|
}
|
|
if (nav->nc<=0||fabs(timediff(time,nav->pclk[nav->nc-1].time))>1E-9) {
|
|
nav->nc++;
|
|
nav->pclk[nav->nc-1].time =time;
|
|
nav->pclk[nav->nc-1].index=index;
|
|
for (i=0;i<MAXSAT;i++) {
|
|
nav->pclk[nav->nc-1].clk[i][0]=0.0;
|
|
nav->pclk[nav->nc-1].std[i][0]=0.0f;
|
|
}
|
|
}
|
|
nav->pclk[nav->nc-1].clk[sat-1][0]=data[0];
|
|
nav->pclk[nav->nc-1].std[sat-1][0]=(float)data[1];
|
|
}
|
|
return nav->nc>0;
|
|
}
|
|
/* read RINEX file -----------------------------------------------------------*/
|
|
static int readrnxfp(FILE *fp, gtime_t ts, gtime_t te, double tint,
|
|
const char *opt, int flag, int index, char *type,
|
|
obs_t *obs, nav_t *nav, sta_t *sta)
|
|
{
|
|
double ver;
|
|
int sys,tsys=TSYS_GPS;
|
|
char tobs[NUMSYS][MAXOBSTYPE][4]={{""}};
|
|
|
|
trace(3,"readrnxfp: flag=%d index=%d\n",flag,index);
|
|
|
|
/* read RINEX file header */
|
|
if (!readrnxh(fp,&ver,type,&sys,&tsys,tobs,nav,sta)) return 0;
|
|
|
|
/* flag=0:except for clock,1:clock */
|
|
if ((!flag&&*type=='C')||(flag&&*type!='C')) return 0;
|
|
|
|
/* read RINEX file body */
|
|
switch (*type) {
|
|
case 'O': return readrnxobs(fp,ts,te,tint,opt,index,ver,&tsys,tobs,obs,
|
|
sta);
|
|
case 'N': return readrnxnav(fp,opt,ver,sys ,nav);
|
|
case 'G': return readrnxnav(fp,opt,ver,SYS_GLO,nav);
|
|
case 'H': return readrnxnav(fp,opt,ver,SYS_SBS,nav);
|
|
case 'J': return readrnxnav(fp,opt,ver,SYS_QZS,nav); /* extension */
|
|
case 'L': return readrnxnav(fp,opt,ver,SYS_GAL,nav); /* extension */
|
|
case 'C': return readrnxclk(fp,opt,index,nav);
|
|
}
|
|
trace(2,"unsupported rinex type ver=%.2f type=%c\n",ver,*type);
|
|
return 0;
|
|
}
|
|
/* uncompress and read RINEX file --------------------------------------------*/
|
|
static int readrnxfile(const char *file, gtime_t ts, gtime_t te, double tint,
|
|
const char *opt, int flag, int index, char *type,
|
|
obs_t *obs, nav_t *nav, sta_t *sta)
|
|
{
|
|
FILE *fp;
|
|
int cstat,stat;
|
|
char tmpfile[1024];
|
|
|
|
trace(3,"readrnxfile: file=%s flag=%d index=%d\n",file,flag,index);
|
|
|
|
if (sta) init_sta(sta);
|
|
|
|
/* uncompress file */
|
|
if ((cstat=rtk_uncompress(file,tmpfile))<0) {
|
|
trace(2,"rinex file uncompact error: %s\n",file);
|
|
return 0;
|
|
}
|
|
if (!(fp=fopen(cstat?tmpfile:file,"r"))) {
|
|
trace(2,"rinex file open error: %s\n",cstat?tmpfile:file);
|
|
return 0;
|
|
}
|
|
/* read RINEX file */
|
|
stat=readrnxfp(fp,ts,te,tint,opt,flag,index,type,obs,nav,sta);
|
|
|
|
fclose(fp);
|
|
|
|
/* delete temporary file */
|
|
if (cstat) remove(tmpfile);
|
|
|
|
return stat;
|
|
}
|
|
/* read RINEX OBS and NAV files ------------------------------------------------
|
|
* read RINEX OBS and NAV files
|
|
* args : char *file I file (wild-card * expanded) ("": stdin)
|
|
* int rcv I receiver number for obs data
|
|
* (gtime_t ts) I observation time start (ts.time==0: no limit)
|
|
* (gtime_t te) I observation time end (te.time==0: no limit)
|
|
* (double tint) I observation time interval (s) (0:all)
|
|
* char *opt I RINEX options (see below,"": no option)
|
|
* obs_t *obs IO observation data (NULL: no input)
|
|
* nav_t *nav IO navigation data (NULL: no input)
|
|
* sta_t *sta IO station parameters (NULL: no input)
|
|
* return : status (1:ok,0:no data,-1:error)
|
|
* notes : read data are appended to obs and nav struct
|
|
* before calling the function, obs and nav should be initialized.
|
|
* observation data and navigation data are not sorted.
|
|
* navigation data may be duplicated.
|
|
* call sortobs() or uniqnav() to sort data or delete duplicated eph.
|
|
*
|
|
* RINEX options (separated by spaces) :
|
|
*
|
|
* -GLss[=shift]: select GPS signal ss (ss: RINEX 3 code, "1C","2W"...)
|
|
* -RLss[=shift]: select GLO signal ss
|
|
* -ELss[=shift]: select GAL signal ss
|
|
* -JLss[=shift]: select QZS signal ss
|
|
* -CLss[=shift]: select BDS signal ss
|
|
* -ILss[=shift]: select IRN signal ss
|
|
* -SLss[=shift]: select SBS signal ss
|
|
*
|
|
* shift: carrier phase shift to be added (cycle)
|
|
*
|
|
* -SYS=sys[,sys...]: select navigation systems
|
|
* (sys=G:GPS,R:GLO,E:GAL,J:QZS,C:BDS,I:IRN,S:SBS)
|
|
*
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int readrnxt(const char *file, int rcv, gtime_t ts, gtime_t te,
|
|
double tint, const char *opt, obs_t *obs, nav_t *nav,
|
|
sta_t *sta)
|
|
{
|
|
int i,n,stat=0;
|
|
const char *p;
|
|
char type=' ',*files[MAXEXFILE]={0};
|
|
|
|
trace(3,"readrnxt: file=%s rcv=%d\n",file,rcv);
|
|
|
|
if (!*file) {
|
|
return readrnxfp(stdin,ts,te,tint,opt,0,1,&type,obs,nav,sta);
|
|
}
|
|
for (i=0;i<MAXEXFILE;i++) {
|
|
if (!(files[i]=(char *)malloc(1024))) {
|
|
for (i--;i>=0;i--) free(files[i]);
|
|
return -1;
|
|
}
|
|
}
|
|
/* expand wild-card */
|
|
if ((n=expath(file,files,MAXEXFILE))<=0) {
|
|
for (i=0;i<MAXEXFILE;i++) free(files[i]);
|
|
return 0;
|
|
}
|
|
/* read rinex files */
|
|
for (i=0;i<n&&stat>=0;i++) {
|
|
stat=readrnxfile(files[i],ts,te,tint,opt,0,rcv,&type,obs,nav,sta);
|
|
}
|
|
/* if station name empty, set 4-char name from file head */
|
|
if (type=='O'&&sta) {
|
|
if (!(p=strrchr(file,FILEPATHSEP))) p=file-1;
|
|
if (!*sta->name) setstr(sta->name,p+1,4);
|
|
}
|
|
for (i=0;i<MAXEXFILE;i++) free(files[i]);
|
|
|
|
return stat;
|
|
}
|
|
extern int readrnx(const char *file, int rcv, const char *opt, obs_t *obs,
|
|
nav_t *nav, sta_t *sta)
|
|
{
|
|
gtime_t t={0};
|
|
|
|
trace(3,"readrnx : file=%s rcv=%d\n",file,rcv);
|
|
|
|
return readrnxt(file,rcv,t,t,0.0,opt,obs,nav,sta);
|
|
}
|
|
/* compare precise clock -----------------------------------------------------*/
|
|
static int cmppclk(const void *p1, const void *p2)
|
|
{
|
|
pclk_t *q1=(pclk_t *)p1,*q2=(pclk_t *)p2;
|
|
double tt=timediff(q1->time,q2->time);
|
|
return tt<-1E-9?-1:(tt>1E-9?1:q1->index-q2->index);
|
|
}
|
|
/* combine precise clock -----------------------------------------------------*/
|
|
static void combpclk(nav_t *nav)
|
|
{
|
|
pclk_t *nav_pclk;
|
|
int i,j,k;
|
|
|
|
trace(3,"combpclk: nc=%d\n",nav->nc);
|
|
|
|
if (nav->nc<=0) return;
|
|
|
|
qsort(nav->pclk,nav->nc,sizeof(pclk_t),cmppclk);
|
|
|
|
for (i=0,j=1;j<nav->nc;j++) {
|
|
if (fabs(timediff(nav->pclk[i].time,nav->pclk[j].time))<1E-9) {
|
|
for (k=0;k<MAXSAT;k++) {
|
|
if (nav->pclk[j].clk[k][0]==0.0) continue;
|
|
nav->pclk[i].clk[k][0]=nav->pclk[j].clk[k][0];
|
|
nav->pclk[i].std[k][0]=nav->pclk[j].std[k][0];
|
|
}
|
|
}
|
|
else if (++i<j) nav->pclk[i]=nav->pclk[j];
|
|
}
|
|
nav->nc=i+1;
|
|
|
|
if (!(nav_pclk=(pclk_t *)realloc(nav->pclk,sizeof(pclk_t)*nav->nc))) {
|
|
free(nav->pclk); nav->pclk=NULL; nav->nc=nav->ncmax=0;
|
|
trace(1,"combpclk malloc error nc=%d\n",nav->nc);
|
|
return;
|
|
}
|
|
nav->pclk=nav_pclk;
|
|
nav->ncmax=nav->nc;
|
|
|
|
trace(4,"combpclk: nc=%d\n",nav->nc);
|
|
}
|
|
/* read RINEX clock files ------------------------------------------------------
|
|
* read RINEX clock files
|
|
* args : char *file I file (wild-card * expanded)
|
|
* nav_t *nav IO navigation data (NULL: no input)
|
|
* return : number of precise clock
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int readrnxc(const char *file, nav_t *nav)
|
|
{
|
|
gtime_t t={0};
|
|
int i,n,index=0,stat=1;
|
|
char *files[MAXEXFILE]={0},type;
|
|
|
|
trace(3,"readrnxc: file=%s\n",file);
|
|
|
|
for (i=0;i<MAXEXFILE;i++) {
|
|
if (!(files[i]=(char *)malloc(1024))) {
|
|
for (i--;i>=0;i--) free(files[i]);
|
|
return 0;
|
|
}
|
|
}
|
|
/* expand wild-card */
|
|
n=expath(file,files,MAXEXFILE);
|
|
|
|
/* read rinex clock files */
|
|
for (i=0;i<n;i++) {
|
|
if (readrnxfile(files[i],t,t,0.0,"",1,index++,&type,NULL,nav,NULL)) {
|
|
continue;
|
|
}
|
|
stat=0;
|
|
break;
|
|
}
|
|
for (i=0;i<MAXEXFILE;i++) free(files[i]);
|
|
|
|
if (!stat) return 0;
|
|
|
|
/* unique and combine ephemeris and precise clock */
|
|
combpclk(nav);
|
|
|
|
return nav->nc;
|
|
}
|
|
/* initialize RINEX control ----------------------------------------------------
|
|
* initialize RINEX control struct and reallocate memory for observation and
|
|
* ephemeris buffer in RINEX control struct
|
|
* args : rnxctr_t *rnx IO RINEX control struct
|
|
* return : status (1:ok,0:memory allocation error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int init_rnxctr(rnxctr_t *rnx)
|
|
{
|
|
gtime_t time0={0};
|
|
obsd_t data0={{0}};
|
|
eph_t eph0={0,-1,-1};
|
|
geph_t geph0={0,-1};
|
|
seph_t seph0={0};
|
|
int i,j;
|
|
|
|
trace(3,"init_rnxctr:\n");
|
|
|
|
rnx->obs.data=NULL;
|
|
rnx->nav.eph =NULL;
|
|
rnx->nav.geph=NULL;
|
|
rnx->nav.seph=NULL;
|
|
|
|
if (!(rnx->obs.data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS ))||
|
|
!(rnx->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT*2 ))||
|
|
!(rnx->nav.geph=(geph_t *)malloc(sizeof(geph_t)*NSATGLO ))||
|
|
!(rnx->nav.seph=(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2))) {
|
|
free_rnxctr(rnx);
|
|
return 0;
|
|
}
|
|
rnx->time=time0;
|
|
rnx->ver=0.0;
|
|
rnx->sys=rnx->tsys=0;
|
|
for (i=0;i<6;i++) for (j=0;j<MAXOBSTYPE;j++) rnx->tobs[i][j][0]='\0';
|
|
rnx->obs.n=0;
|
|
rnx->nav.n=MAXSAT*2;
|
|
rnx->nav.ng=NSATGLO;
|
|
rnx->nav.ns=NSATSBS*2;
|
|
for (i=0;i<MAXOBS ;i++) rnx->obs.data[i]=data0;
|
|
for (i=0;i<MAXSAT*2 ;i++) rnx->nav.eph [i]=eph0;
|
|
for (i=0;i<NSATGLO ;i++) rnx->nav.geph[i]=geph0;
|
|
for (i=0;i<NSATSBS*2;i++) rnx->nav.seph[i]=seph0;
|
|
rnx->ephsat=rnx->ephset=0;
|
|
rnx->opt[0]='\0';
|
|
|
|
return 1;
|
|
}
|
|
/* free RINEX control ----------------------------------------------------------
|
|
* free observation and ephemris buffer in RINEX control struct
|
|
* args : rnxctr_t *rnx IO RINEX control struct
|
|
* return : none
|
|
*-----------------------------------------------------------------------------*/
|
|
extern void free_rnxctr(rnxctr_t *rnx)
|
|
{
|
|
trace(3,"free_rnxctr:\n");
|
|
|
|
free(rnx->obs.data); rnx->obs.data=NULL; rnx->obs.n =0;
|
|
free(rnx->nav.eph ); rnx->nav.eph =NULL; rnx->nav.n =0;
|
|
free(rnx->nav.geph); rnx->nav.geph=NULL; rnx->nav.ng=0;
|
|
free(rnx->nav.seph); rnx->nav.seph=NULL; rnx->nav.ns=0;
|
|
}
|
|
/* open RINEX data -------------------------------------------------------------
|
|
* fetch next RINEX message and input a message from file
|
|
* args : rnxctr_t *rnx IO RINEX control struct
|
|
* FILE *fp I file pointer
|
|
* return : status (-2: end of file, 0: no message, 1: input observation data,
|
|
* 2: input navigation data)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int open_rnxctr(rnxctr_t *rnx, FILE *fp)
|
|
{
|
|
const char *rnxtypes="ONGLJHC";
|
|
double ver;
|
|
char type,tobs[NUMSYS][MAXOBSTYPE][4]={{""}};
|
|
int i,j,sys,tsys;
|
|
|
|
trace(3,"open_rnxctr:\n");
|
|
|
|
/* read RINEX header from file */
|
|
if (!readrnxh(fp,&ver,&type,&sys,&tsys,tobs,&rnx->nav,&rnx->sta)) {
|
|
trace(2,"open_rnxctr: rinex header read error\n");
|
|
return 0;
|
|
}
|
|
if (!strchr(rnxtypes,type)) {
|
|
trace(2,"open_rnxctr: not supported rinex type type=%c\n",type);
|
|
return 0;
|
|
}
|
|
rnx->ver=ver;
|
|
rnx->type=type;
|
|
rnx->sys=sys;
|
|
rnx->tsys=tsys;
|
|
for (i=0;i<NUMSYS;i++) for (j=0;j<MAXOBSTYPE&&*tobs[i][j];j++) {
|
|
strcpy(rnx->tobs[i][j],tobs[i][j]);
|
|
}
|
|
rnx->ephset=rnx->ephsat=0;
|
|
return 1;
|
|
}
|
|
/* input RINEX control ---------------------------------------------------------
|
|
* fetch next RINEX message and input a messsage from file
|
|
* args : rnxctr_t *rnx IO RINEX control struct
|
|
* FILE *fp I file pointer
|
|
* return : status (-2: end of file, 0: no message, 1: input observation data,
|
|
* 2: input navigation data)
|
|
* notes : if status=1, input obs data are set to rnx as follows:
|
|
* rnx->time : obs data epoch time
|
|
* rnx->obs.n : number of obs data
|
|
* rnx->obs.data[]: obs data
|
|
* if status=2, input nav data are set to rnx as follows:
|
|
* rnx->time : ephemeris frame time
|
|
* rnx->ephsat : sat-no of input ephemeris
|
|
* rnx->ephset : set-no of input ephemeris (0:set1,1:set2)
|
|
* rnx->nav.geph[prn-1] : GLOASS ephemeris (prn=slot-no)
|
|
* rnx->nav.seph[prn-MINPRNSBS]: SBAS ephemeris (prn=PRN-no)
|
|
* rnx->nav.eph [sat-1] : other ephemeris set1 (sat=sat-no)
|
|
* rnx->nav.eph [sat-1+MAXSAT] : other ephemeris set2 (sat=sat-no)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int input_rnxctr(rnxctr_t *rnx, FILE *fp)
|
|
{
|
|
eph_t eph={0};
|
|
geph_t geph={0};
|
|
seph_t seph={0};
|
|
int n,sys,stat,flag,prn,type,set;
|
|
|
|
trace(4,"input_rnxctr:\n");
|
|
|
|
/* read RINEX OBS data */
|
|
if (rnx->type=='O') {
|
|
if ((n=readrnxobsb(fp,rnx->opt,rnx->ver,&rnx->tsys,rnx->tobs,&flag,
|
|
rnx->obs.data,&rnx->sta))<=0) {
|
|
rnx->obs.n=0;
|
|
return n<0?-2:0;
|
|
}
|
|
rnx->time=rnx->obs.data[0].time;
|
|
rnx->obs.n=n;
|
|
return 1;
|
|
}
|
|
/* read RINEX NAV data */
|
|
switch (rnx->type) {
|
|
case 'N': sys=SYS_NONE; break;
|
|
case 'G': sys=SYS_GLO ; break;
|
|
case 'H': sys=SYS_SBS ; break;
|
|
case 'L': sys=SYS_GAL ; break; /* extension */
|
|
case 'J': sys=SYS_QZS ; break; /* extension */
|
|
default: return 0;
|
|
}
|
|
if ((stat=readrnxnavb(fp,rnx->opt,rnx->ver,sys,&type,&eph,&geph,&seph))<=0) {
|
|
return stat<0?-2:0;
|
|
}
|
|
if (type==1) { /* GLONASS ephemeris */
|
|
sys=satsys(geph.sat,&prn);
|
|
rnx->nav.geph[prn-1]=geph;
|
|
rnx->time=geph.tof;
|
|
rnx->ephsat=geph.sat;
|
|
rnx->ephset=0;
|
|
}
|
|
else if (type==2) { /* SBAS ephemeris */
|
|
sys=satsys(seph.sat,&prn);
|
|
rnx->nav.seph[prn-MINPRNSBS]=seph;
|
|
rnx->time=seph.tof;
|
|
rnx->ephsat=seph.sat;
|
|
rnx->ephset=0;
|
|
}
|
|
else { /* other ephemeris */
|
|
sys=satsys(eph.sat,&prn);
|
|
set=(sys==SYS_GAL&&(eph.code&(1<<9)))?1:0; /* GAL 0:I/NAV,1:F/NAV */
|
|
rnx->nav.eph[eph.sat-1+MAXSAT*set]=eph;
|
|
rnx->time=eph.ttr;
|
|
rnx->ephsat=eph.sat;
|
|
rnx->ephset=set;
|
|
}
|
|
return 2;
|
|
}
|
|
/*------------------------------------------------------------------------------
|
|
* output RINEX functions
|
|
*-----------------------------------------------------------------------------*/
|
|
|
|
/* output obs-types RINEX ver.2 ----------------------------------------------*/
|
|
static void outobstype_ver2(FILE *fp, const rnxopt_t *opt)
|
|
{
|
|
const char label[]="# / TYPES OF OBSERV";
|
|
int i;
|
|
|
|
trace(3,"outobstype_ver2:\n");
|
|
|
|
fprintf(fp,"%6d",opt->nobs[0]);
|
|
|
|
for (i=0;i<opt->nobs[0];i++) {
|
|
if (i>0&&i%9==0) fprintf(fp," ");
|
|
|
|
fprintf(fp,"%6s",opt->tobs[0][i]);
|
|
|
|
if (i%9==8) fprintf(fp,"%-20s\n",label);
|
|
}
|
|
if (opt->nobs[0]==0||i%9>0) {
|
|
fprintf(fp,"%*s%-20s\n",(9-i%9)*6,"",label);
|
|
}
|
|
}
|
|
/* output obs-types RINEX ver.3 ----------------------------------------------*/
|
|
static void outobstype_ver3(FILE *fp, const rnxopt_t *opt)
|
|
{
|
|
const char label[]="SYS / # / OBS TYPES";
|
|
char tobs[8];
|
|
int i,j;
|
|
|
|
trace(3,"outobstype_ver3:\n");
|
|
|
|
for (i=0;navsys[i];i++) {
|
|
if (!(navsys[i]&opt->navsys)||!opt->nobs[i]) continue;
|
|
|
|
fprintf(fp,"%c %3d",syscodes[i],opt->nobs[i]);
|
|
|
|
for (j=0;j<opt->nobs[i];j++) {
|
|
if (j>0&&j%13==0) fprintf(fp," ");
|
|
|
|
strcpy(tobs,opt->tobs[i][j]);
|
|
|
|
/* BDS B2x -> 1x (3.02), 2x (other) */
|
|
if (navsys[i]==SYS_CMP) {
|
|
if (opt->rnxver==302&&tobs[1]=='2') tobs[1]='1';
|
|
}
|
|
fprintf(fp," %3s", tobs);
|
|
|
|
if (j%13==12) fprintf(fp," %-20s\n",label);
|
|
}
|
|
if (j%13>0) {
|
|
fprintf(fp,"%*s %-20s\n",(13-j%13)*4,"",label);
|
|
}
|
|
}
|
|
}
|
|
/* output RINEX phase shift --------------------------------------------------*/
|
|
static void outrnx_phase_shift(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
static const uint8_t ref_code[][10]={ /* reference signal [9] table A23 */
|
|
{CODE_L1C,CODE_L2P,CODE_L5I,0}, /* GPS */
|
|
{CODE_L1C,CODE_L4A,CODE_L2C,CODE_L6A,CODE_L3I,0}, /* GLO */
|
|
{CODE_L1B,CODE_L5I,CODE_L7I,CODE_L8I,CODE_L6B,0}, /* GAL */
|
|
{CODE_L1C,CODE_L2S,CODE_L5I,CODE_L5D,CODE_L6S,0}, /* QZS */
|
|
{CODE_L1C,CODE_L5I,0}, /* SBS */
|
|
{CODE_L2I,CODE_L1D,CODE_L5D,CODE_L7I,CODE_L7D,CODE_L8D,CODE_L6I,0}, /* BDS */
|
|
{CODE_L5A,CODE_L9A,0} /* IRN */
|
|
};
|
|
const char *label="SYS / PHASE SHIFT";
|
|
char obs[8];
|
|
int i,j,k;
|
|
|
|
for (i=0;navsys[i];i++) {
|
|
if (!(navsys[i]&opt->navsys)||!opt->nobs[i]) continue;
|
|
for (j=0;j<opt->nobs[i];j++) {
|
|
if (opt->tobs[i][j][0]!='L') continue;
|
|
strcpy(obs,opt->tobs[i][j]);
|
|
for (k=0;ref_code[i][k];k++) {
|
|
if (obs2code(obs+1)==ref_code[i][k]) break;
|
|
}
|
|
if (navsys[i]==SYS_CMP) { /* BDS B2x -> 1x (3.02), 2x (other) */
|
|
if (opt->rnxver==302&&obs[1]=='2') obs[1]='1';
|
|
}
|
|
if (ref_code[i][k]) {
|
|
fprintf(fp,"%c %3s %54s%-20s\n",syscodes[i],obs,"",label);
|
|
}
|
|
else {
|
|
fprintf(fp,"%c %3s %8.5f%46s%-20s\n",syscodes[i],obs,
|
|
opt->shift[i][j],"",label);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
/* output RINEX GLONASS slot/freq # ------------------------------------------*/
|
|
static void outrnx_glo_fcn(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
const char *label="GLONASS SLOT / FRQ #";
|
|
int i,j,k,n=0,sat,prn[MAXPRNGLO],fcn[MAXPRNGLO];
|
|
|
|
if (opt->navsys&SYS_GLO) {
|
|
for (i=0;i<MAXPRNGLO;i++) {
|
|
sat=satno(SYS_GLO,i+1);
|
|
if (nav->geph[i].sat==sat) {
|
|
prn[n]=i+1;
|
|
fcn[n++]=nav->geph[i].frq;
|
|
}
|
|
else if (nav->glo_fcn[i]) {
|
|
prn[n]=i+1;
|
|
fcn[n++]=nav->glo_fcn[i]-8;
|
|
}
|
|
}
|
|
}
|
|
for (i=j=0;i<(n<=0?1:(n-1)/8+1);i++) {
|
|
if (i==0) fprintf(fp,"%3d",n); else fprintf(fp," ");
|
|
for (k=0;k<8&&j<n;k++,j++) {
|
|
fprintf(fp," R%02d %2d",prn[j],fcn[j]);
|
|
}
|
|
fprintf(fp,"%*s %-20s\n",(8-k)*7,"",label);
|
|
}
|
|
}
|
|
/* output RINEX GLONASS code/phase/bias --------------------------------------*/
|
|
static void outrnx_glo_bias(FILE *fp, const rnxopt_t *opt)
|
|
{
|
|
const char *label="GLONASS COD/PHS/BIS";
|
|
const char *tobs[4]={"C1C","C1P","C2C","C2P"};
|
|
|
|
if (opt->navsys&SYS_GLO) {
|
|
fprintf(fp," %s %8.3f %s %8.3f %s %8.3f %s %8.3f%8s%-20s\n",
|
|
tobs[0],opt->glo_cp_bias[0],tobs[1],opt->glo_cp_bias[1],
|
|
tobs[2],opt->glo_cp_bias[2],tobs[3],opt->glo_cp_bias[3],"",
|
|
label);
|
|
}
|
|
else {
|
|
fprintf(fp,"%*s%-20s\n",60,"",label);
|
|
}
|
|
}
|
|
/* output RINEX observation data file header -----------------------------------
|
|
* output RINEX observation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t *nav I navigation data
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
double ep[6],pos[3]={0},del[3]={0};
|
|
char date[32],*sys,*tsys="GPS";
|
|
int i;
|
|
|
|
trace(3,"outrnxobsh:\n");
|
|
|
|
timestr_rnx(date);
|
|
|
|
if (opt->navsys==SYS_GPS) sys="G: GPS";
|
|
else if (opt->navsys==SYS_GLO) sys="R: GLONASS";
|
|
else if (opt->navsys==SYS_GAL) sys="E: Galielo";
|
|
else if (opt->navsys==SYS_QZS) sys="J: QZSS"; /* ver.3.02 */
|
|
else if (opt->navsys==SYS_CMP) sys="C: BeiDou"; /* ver.3.02 */
|
|
else if (opt->navsys==SYS_IRN) sys="I: IRNSS"; /* ver.3.03 */
|
|
else if (opt->navsys==SYS_SBS) sys="S: SBAS Payload";
|
|
else sys="M: Mixed";
|
|
|
|
fprintf(fp,"%9.2f%-11s%-20s%-20s%-20s\n",opt->rnxver/100.0,"",
|
|
"OBSERVATION DATA",sys,"RINEX VERSION / TYPE");
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->marker,"MARKER NAME");
|
|
fprintf(fp,"%-20.20s%-40.40s%-20s\n",opt->markerno,"","MARKER NUMBER");
|
|
|
|
if (opt->rnxver>=300) {
|
|
fprintf(fp,"%-20.20s%-40.40s%-20s\n",opt->markertype,"","MARKER TYPE");
|
|
}
|
|
fprintf(fp,"%-20.20s%-40.40s%-20s\n",opt->name[0],opt->name[1],
|
|
"OBSERVER / AGENCY");
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->rec[0],opt->rec[1],
|
|
opt->rec[2],"REC # / TYPE / VERS");
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->ant[0],opt->ant[1],
|
|
"","ANT # / TYPE");
|
|
|
|
for (i=0;i<3;i++) if (fabs(opt->apppos[i])<1E8) pos[i]=opt->apppos[i];
|
|
for (i=0;i<3;i++) if (fabs(opt->antdel[i])<1E8) del[i]=opt->antdel[i];
|
|
fprintf(fp,"%14.4f%14.4f%14.4f%-18s%-20s\n",pos[0],pos[1],pos[2],"",
|
|
"APPROX POSITION XYZ");
|
|
fprintf(fp,"%14.4f%14.4f%14.4f%-18s%-20s\n",del[0],del[1],del[2],"",
|
|
"ANTENNA: DELTA H/E/N");
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%6d%6d%-48s%-20s\n",1,1,"","WAVELENGTH FACT L1/2");
|
|
outobstype_ver2(fp,opt);
|
|
}
|
|
else { /* ver.3 */
|
|
outobstype_ver3(fp,opt);
|
|
}
|
|
if (opt->tint>0.0) {
|
|
fprintf(fp,"%10.3f%50s%-20s\n",opt->tint,"","INTERVAL");
|
|
}
|
|
time2epoch(opt->tstart,ep);
|
|
fprintf(fp," %04.0f %02.0f %02.0f %02.0f %02.0f %010.7f %-12s%-20s\n",
|
|
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],tsys,"TIME OF FIRST OBS");
|
|
|
|
time2epoch(opt->tend,ep);
|
|
fprintf(fp," %04.0f %02.0f %02.0f %02.0f %02.0f %010.7f %-12s%-20s\n",
|
|
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],tsys,"TIME OF LAST OBS");
|
|
|
|
if (opt->rnxver>=301) {
|
|
outrnx_phase_shift(fp,opt,nav); /* SYS / PHASE SHIFT */
|
|
}
|
|
if (opt->rnxver>=302) {
|
|
outrnx_glo_fcn(fp,opt,nav); /* GLONASS SLOT / FRQ # */
|
|
}
|
|
if (opt->rnxver>=302) {
|
|
outrnx_glo_bias(fp,opt); /* GLONASS COD/PHS/BIS */
|
|
}
|
|
return fprintf(fp,"%-60.60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output observation data field ---------------------------------------------*/
|
|
static void outrnxobsf(FILE *fp, double obs, int lli, int std)
|
|
{
|
|
if (obs==0.0) {
|
|
fprintf(fp," ");
|
|
}
|
|
else {
|
|
fprintf(fp,"%14.3f",fmod(obs,1e9));
|
|
}
|
|
if (lli<0||!(lli&(LLI_SLIP|LLI_HALFC|LLI_BOCTRK))) {
|
|
fprintf(fp," ");
|
|
}
|
|
else {
|
|
fprintf(fp,"%1.1d",lli&(LLI_SLIP|LLI_HALFC|LLI_BOCTRK));
|
|
}
|
|
if (std<=0) fprintf(fp," "); else fprintf(fp,"%1.1x",std);
|
|
}
|
|
/* search observation data index -------------------------------------------*/
|
|
static int obsindex(int rnxver, int sys, const uint8_t *code, const char *tobs,
|
|
const char *mask)
|
|
{
|
|
char *id;
|
|
int i;
|
|
|
|
for (i=0;i<NFREQ+NEXOBS;i++) {
|
|
|
|
/* signal mask */
|
|
if (mask[code[i]-1]=='0') continue;
|
|
|
|
if (rnxver<=299) { /* ver.2 */
|
|
if (!strcmp(tobs,"C1")&&(sys==SYS_GPS||sys==SYS_GLO||sys==SYS_QZS||
|
|
sys==SYS_SBS||sys==SYS_CMP)) {
|
|
if (code[i]==CODE_L1C) return i;
|
|
}
|
|
else if (!strcmp(tobs,"P1")) {
|
|
if (code[i]==CODE_L1P||code[i]==CODE_L1W||code[i]==CODE_L1Y||
|
|
code[i]==CODE_L1N) return i;
|
|
}
|
|
else if (!strcmp(tobs,"C2")&&(sys==SYS_GPS||sys==SYS_QZS)) {
|
|
if (code[i]==CODE_L2S||code[i]==CODE_L2L||code[i]==CODE_L2X)
|
|
return i;
|
|
}
|
|
else if (!strcmp(tobs,"C2")&&sys==SYS_GLO) {
|
|
if (code[i]==CODE_L2C) return i;
|
|
}
|
|
else if (!strcmp(tobs,"P2")) {
|
|
if (code[i]==CODE_L2P||code[i]==CODE_L2W||code[i]==CODE_L2Y||
|
|
code[i]==CODE_L2N||code[i]==CODE_L2D) return i;
|
|
}
|
|
else if (rnxver>=212&&tobs[1]=='A') { /* L1C/A */
|
|
if (code[i]==CODE_L1C) return i;
|
|
}
|
|
else if (rnxver>=212&&tobs[1]=='B') { /* L1C */
|
|
if (code[i]==CODE_L1S||code[i]==CODE_L1L||code[i]==CODE_L1X)
|
|
return i;
|
|
}
|
|
else if (rnxver>=212&&tobs[1]=='C') { /* L2C */
|
|
if (code[i]==CODE_L2S||code[i]==CODE_L2L||code[i]==CODE_L2X)
|
|
return i;
|
|
}
|
|
else if (rnxver>=212&&tobs[1]=='D'&&sys==SYS_GLO) { /* GLO L2C/A */
|
|
if (code[i]==CODE_L2C) return i;
|
|
}
|
|
else if (tobs[1]=='2'&&sys==SYS_CMP) { /* BDS B1 */
|
|
if (code[i]==CODE_L2I||code[i]==CODE_L2Q||code[i]==CODE_L2X)
|
|
return i;
|
|
}
|
|
else {
|
|
id=code2obs(code[i]);
|
|
if (id[0]==tobs[1]) return i;
|
|
}
|
|
}
|
|
else { /* ver.3 */
|
|
id=code2obs(code[i]);
|
|
if (!strcmp(id,tobs+1)) return i;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
/* output rinex event time ---------------------------------------------------*/
|
|
static void outrinexevent(FILE *fp, const rnxopt_t *opt, const obsd_t *obs,
|
|
const double epdiff)
|
|
{
|
|
int n;
|
|
double epe[6];
|
|
|
|
/* reject invalid time events (> 1 minute from timestamp of epoch) */
|
|
if (fabs(epdiff)>60) {
|
|
return;
|
|
}
|
|
|
|
time2epoch(obs[0].eventime,epe);
|
|
n = obs->timevalid ? 0 : 1;
|
|
|
|
if (opt->rnxver<=2.99) { /* ver.2 */
|
|
if (epdiff < 0) fprintf(fp,"\n");
|
|
fprintf(fp," %02d %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d",
|
|
(int)epe[0]%100,epe[1],epe[2],epe[3],epe[4],epe[5],5,n);
|
|
if (epdiff >= 0) fprintf(fp,"\n");
|
|
} else { /* ver.3 */
|
|
fprintf(fp,"> %04.0f %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d\n",
|
|
epe[0],epe[1],epe[2],epe[3],epe[4],epe[5],5,n);
|
|
}
|
|
if (n) fprintf(fp,"%-60.60s%-20s\n"," Time mark is not valid","COMMENT");
|
|
}
|
|
/* output RINEX observation data body ------------------------------------------
|
|
* output RINEX observation data body
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* obsd_t *obs I observation data
|
|
* int n I number of observation data
|
|
* int flag I epoch flag (0:ok,1:power failure,>1:event flag)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
|
|
int flag)
|
|
{
|
|
const char *mask;
|
|
double epdiff,ep[6],dL;
|
|
char sats[MAXOBS][4]={""};
|
|
int i,j,k,m,ns,sys,ind[MAXOBS],s[MAXOBS]={0},std;
|
|
|
|
trace(3,"outrnxobsb: n=%d\n",n);
|
|
|
|
time2epoch_n(obs[0].time,ep,7); /* output rounded to 7 decimals */
|
|
|
|
for (i=ns=0;i<n&&ns<MAXOBS;i++) {
|
|
sys=satsys(obs[i].sat,NULL);
|
|
if (!(sys&opt->navsys)||opt->exsats[obs[i].sat-1]) continue;
|
|
if (!sat2code(obs[i].sat,sats[ns])) continue;
|
|
switch (sys) {
|
|
case SYS_GPS: s[ns]=0; break;
|
|
case SYS_GLO: s[ns]=1; break;
|
|
case SYS_GAL: s[ns]=2; break;
|
|
case SYS_QZS: s[ns]=3; break;
|
|
case SYS_SBS: s[ns]=4; break;
|
|
case SYS_CMP: s[ns]=5; break;
|
|
case SYS_IRN: s[ns]=6; break;
|
|
}
|
|
if (!opt->nobs[(opt->rnxver<=299)?0:s[ns]]) continue;
|
|
ind[ns++]=i;
|
|
}
|
|
if (ns<=0) return 1;
|
|
/* if epoch of event less than epoch of observation, then first output
|
|
time mark, else first output observation record */
|
|
epdiff = timediff(obs[0].time,obs[0].eventime);
|
|
if (flag == 5 && epdiff >= 0) {
|
|
outrinexevent(fp, opt, obs, epdiff);
|
|
}
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp," %02d %02.0f %02.0f %02.0f %02.0f %010.7f %d%3d",
|
|
(int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5],0,ns);
|
|
for (i=0;i<ns;i++) {
|
|
if (i>0&&i%12==0) fprintf(fp,"\n%32s","");
|
|
fprintf(fp,"%-3s",sats[i]);
|
|
}
|
|
}
|
|
else { /* ver.3 */
|
|
fprintf(fp,"> %04.0f %02.0f %02.0f %02.0f %02.0f %010.7f %d%3d%21s\n",
|
|
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],0,ns,"");
|
|
}
|
|
for (i=0;i<ns;i++) {
|
|
sys=satsys(obs[ind[i]].sat,NULL);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
m=0;
|
|
mask=opt->mask[s[i]];
|
|
}
|
|
else { /* ver.3 */
|
|
fprintf(fp,"%-3s",sats[i]);
|
|
m=s[i];
|
|
mask=opt->mask[s[i]];
|
|
}
|
|
for (j=0;j<opt->nobs[m];j++) {
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
if (j%5==0) fprintf(fp,"\n");
|
|
}
|
|
/* search obs data index */
|
|
if ((k=obsindex(opt->rnxver,sys,obs[ind[i]].code,opt->tobs[m][j],
|
|
mask))<0) {
|
|
outrnxobsf(fp,0.0,-1,-1);
|
|
continue;
|
|
}
|
|
/* phase shift (cyc) */
|
|
dL=(obs[ind[i]].L[k]!=0.0)?opt->shift[m][j]:0.0;
|
|
|
|
/* output field */
|
|
switch (opt->tobs[m][j][0]) {
|
|
case 'C':
|
|
case 'P': outrnxobsf(fp,obs[ind[i]].P[k],-1,obs[ind[i]].Pstd[k]); break;
|
|
case 'L': outrnxobsf(fp,obs[ind[i]].L[k]+dL,obs[ind[i]].LLI[k],obs[ind[i]].Lstd[k]); break;
|
|
case 'D': outrnxobsf(fp,obs[ind[i]].D[k],-1,-1); break;
|
|
case 'S': outrnxobsf(fp,obs[ind[i]].SNR[k]*SNR_UNIT,-1,-1); break;
|
|
}
|
|
}
|
|
|
|
/* set trace level to 1 generate CSV file of raw observations */
|
|
#ifdef TRACE
|
|
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]*SNR_UNIT, obs[ind[i]].LLI[0], obs[ind[i]].Lstd[0],
|
|
obs[ind[i]].P[1], obs[ind[i]].L[1], obs[ind[i]].D[1],
|
|
obs[ind[i]].SNR[1]*SNR_UNIT, obs[ind[i]].LLI[1], obs[ind[i]].Lstd[1]);
|
|
}
|
|
#endif
|
|
|
|
if (opt->rnxver>=300&&fprintf(fp,"\n")==EOF) return 0;
|
|
}
|
|
|
|
if (flag == 5 && epdiff < 0) {
|
|
outrinexevent(fp, opt, obs, epdiff);
|
|
}
|
|
if (opt->rnxver>=300) return 1;
|
|
|
|
return fprintf(fp,"\n")!=EOF;
|
|
}
|
|
/* output data field in RINEX navigation data --------------------------------*/
|
|
static void outnavf_n(FILE *fp, double value, int n)
|
|
{
|
|
double e=(fabs(value)<1E-99)?0.0:floor(log10(fabs(value))+1.0);
|
|
|
|
fprintf(fp," %s.%0*.0f%s%+03.0f",value<0.0?"-":" ",n,
|
|
fabs(value)/pow(10.0,e-n),NAVEXP,e);
|
|
}
|
|
static void outnavf(FILE *fp, double value)
|
|
{
|
|
outnavf_n(fp,value,12);
|
|
}
|
|
/* output iono correction for a system ---------------------------------------*/
|
|
static void out_iono_sys(FILE *fp, const char *sys, const double *ion, int n)
|
|
{
|
|
const char *label1[]={"ION ALPHA","ION BETA"},*label2="IONOSPHERIC CORR";
|
|
char str[32];
|
|
int i,j;
|
|
|
|
if (norm(ion,n)<=0.0) return;
|
|
|
|
for (i=0;i<(n+3)/4;i++) {
|
|
sprintf(str,"%s%c",sys,(!*sys||n<4)?' ':'A'+i);
|
|
fprintf(fp,"%-*s ",!*sys?1:4,str);
|
|
for (j=0;j<4&&i*4+j<n;j++) {
|
|
fprintf(fp," ");
|
|
outnavf_n(fp,ion[i*4+j],4);
|
|
}
|
|
fprintf(fp,"%*s%-20s\n",!*sys?10:7+12*(4-j),"",!*sys?label1[i]:label2);
|
|
}
|
|
}
|
|
/* output iono corrections --------------------------------------------------*/
|
|
static void out_iono(FILE *fp, int sys, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
if (!opt->outiono) return;
|
|
|
|
if (sys&opt->navsys&SYS_GPS) {
|
|
if (opt->rnxver<=211) out_iono_sys(fp,"",nav->ion_gps,8);
|
|
else out_iono_sys(fp,"GPS",nav->ion_gps,8);
|
|
}
|
|
if ((sys&opt->navsys&SYS_GAL)&&opt->rnxver>=212) {
|
|
out_iono_sys(fp,"GAL",nav->ion_gal,3);
|
|
}
|
|
if ((sys&opt->navsys&SYS_QZS)&&opt->rnxver>=302) {
|
|
out_iono_sys(fp,"QZS",nav->ion_qzs,8);
|
|
}
|
|
if ((sys&opt->navsys&SYS_CMP)&&opt->rnxver>=302) {
|
|
out_iono_sys(fp,"BDS",nav->ion_cmp,8);
|
|
}
|
|
if ((sys&opt->navsys&SYS_IRN)&&opt->rnxver>=303) {
|
|
out_iono_sys(fp,"IRN",nav->ion_irn,8);
|
|
}
|
|
}
|
|
/* output time system correction for a system --------------------------------*/
|
|
static void out_time_sys(FILE *fp, const char *sys, const double *utc)
|
|
{
|
|
const char *label1="TIME SYSTEM CORR",*label2="DELTA-UTC: A0,A1,T,W";
|
|
|
|
if (norm(utc,3)<=0.0) return;
|
|
|
|
if (*sys) {
|
|
fprintf(fp,"%-4s ",sys);
|
|
outnavf_n(fp,utc[0],10);
|
|
outnavf_n(fp,utc[1],9);
|
|
fprintf(fp,"%7.0f%5.0f%10s%-20s\n",utc[2],utc[3],"",label1);
|
|
}
|
|
else {
|
|
fprintf(fp," ");
|
|
outnavf_n(fp,utc[0],12);
|
|
outnavf_n(fp,utc[1],12);
|
|
fprintf(fp,"%9.0f%9.0f %-20s\n",utc[2],utc[3],label2);
|
|
}
|
|
}
|
|
/* output time system corrections --------------------------------------------*/
|
|
static void out_time(FILE *fp, int sys, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
double utc[8]={0};
|
|
|
|
if (!opt->outtime) return;
|
|
|
|
if (sys&opt->navsys&SYS_GPS) {
|
|
if (opt->rnxver<=211) out_time_sys(fp,"",nav->utc_gps);
|
|
else out_time_sys(fp,"GPUT",nav->utc_gps);
|
|
}
|
|
if ((sys&opt->navsys&SYS_GLO)&&opt->rnxver>=212) {
|
|
/* RINEX 2.12-3.02: tau_C, 3.03- : -tau_C */
|
|
utc[0]=(opt->rnxver<=302)?nav->utc_glo[0]:-nav->utc_glo[0];
|
|
out_time_sys(fp,"GLUT",utc);
|
|
}
|
|
if ((sys&opt->navsys&SYS_SBS)&&opt->rnxver>=212) {
|
|
out_time_sys(fp,"SBUT",nav->utc_sbs);
|
|
}
|
|
if ((sys&opt->navsys&SYS_GAL)&&opt->rnxver>=212) {
|
|
out_time_sys(fp,"GAUT",nav->utc_gal);
|
|
}
|
|
if ((sys&opt->navsys&SYS_QZS)&&opt->rnxver>=302) {
|
|
out_time_sys(fp,"QZUT",nav->utc_qzs);
|
|
}
|
|
if ((sys&opt->navsys&SYS_CMP)&&opt->rnxver>=302) {
|
|
out_time_sys(fp,"BDUT",nav->utc_cmp);
|
|
}
|
|
if ((sys&opt->navsys&SYS_IRN)&&opt->rnxver>=303) {
|
|
out_time_sys(fp,"IRUT",nav->utc_irn);
|
|
}
|
|
}
|
|
/* output leap seconds -------------------------------------------------------*/
|
|
static void out_leaps(FILE *fp, int sys, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
const char *label="LEAP SECONDS";
|
|
const double *leaps;
|
|
|
|
if (!opt->outleaps) return;
|
|
|
|
switch (sys) {
|
|
case SYS_GAL: leaps=nav->utc_gal+4; break;
|
|
case SYS_QZS: leaps=nav->utc_qzs+4; break;
|
|
case SYS_CMP: leaps=nav->utc_cmp+4; break;
|
|
case SYS_IRN: leaps=nav->utc_irn+4; break;
|
|
default : leaps=nav->utc_gps+4; break;
|
|
}
|
|
if (leaps[0]==0.0) return;
|
|
|
|
if (opt->rnxver<=300) {
|
|
if (sys==SYS_GPS) fprintf(fp,"%6.0f%54s%-20s\n",leaps[0],"",label);
|
|
}
|
|
else if (norm(leaps+1,3)<=0.0) {
|
|
fprintf(fp,"%6.0f%18s%3s%33s%-20s\n",leaps[0],"",
|
|
(sys==SYS_CMP)?"BDS":"","",label);
|
|
}
|
|
else {
|
|
fprintf(fp,"%6.0f%6.0f%6.0f%6.0f%3s%33s%-20s\n",leaps[0],
|
|
leaps[3],leaps[1],leaps[2],(sys==SYS_CMP)?"BDS":"","",label);
|
|
}
|
|
}
|
|
/* output RINEX navigation data file header ------------------------------------
|
|
* output RINEX navigation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64],*sys;
|
|
|
|
trace(3,"outrnxnavh:\n");
|
|
|
|
timestr_rnx(date);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GPS NAV DATA","","RINEX VERSION / TYPE");
|
|
}
|
|
else { /* ver.3 */
|
|
if (opt->navsys==SYS_GPS) sys="G: GPS";
|
|
else if (opt->navsys==SYS_GLO) sys="R: GLONASS";
|
|
else if (opt->navsys==SYS_GAL) sys="E: Galileo";
|
|
else if (opt->navsys==SYS_QZS) sys="J: QZSS"; /* v.3.02 */
|
|
else if (opt->navsys==SYS_CMP) sys="C: BeiDou"; /* v.3.02 */
|
|
else if (opt->navsys==SYS_IRN) sys="I: IRNSS"; /* v.3.03 */
|
|
else if (opt->navsys==SYS_SBS) sys="S: SBAS Payload";
|
|
else if (opt->sep_nav) sys="G: GPS";
|
|
else sys="M: Mixed";
|
|
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA",sys,"RINEX VERSION / TYPE");
|
|
}
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_iono(fp,opt->sep_nav?SYS_GPS:SYS_ALL,opt,nav);
|
|
out_time(fp,opt->sep_nav?SYS_GPS:SYS_ALL,opt,nav);
|
|
out_leaps(fp,SYS_GPS,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX navigation data file body --------------------------------------
|
|
* output RINEX navigation data file body
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* eph_t *eph I ephemeris
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxnavb(FILE *fp, const rnxopt_t *opt, const eph_t *eph)
|
|
{
|
|
double ep[6],ttr;
|
|
int week,sys,prn;
|
|
char code[32],*sep;
|
|
|
|
trace(3,"outrnxnavb: sat=%2d\n",eph->sat);
|
|
|
|
if (!(sys=satsys(eph->sat,&prn))||!(sys&opt->navsys)) return 0;
|
|
|
|
if (sys!=SYS_CMP) {
|
|
time2epoch(eph->toc,ep);
|
|
}
|
|
else {
|
|
time2epoch(gpst2bdt(eph->toc),ep); /* gpst -> bdt */
|
|
}
|
|
if ((opt->rnxver>=300&&sys==SYS_GPS)||(opt->rnxver>=212&&sys==SYS_GAL)||
|
|
(opt->rnxver>=302&&sys==SYS_QZS)||(opt->rnxver>=302&&sys==SYS_CMP)||
|
|
(opt->rnxver>=303&&sys==SYS_IRN)) {
|
|
if (!sat2code(eph->sat,code)) return 0;
|
|
fprintf(fp,"%-3s %04.0f %02.0f %02.0f %02.0f %02.0f %02.0f",code,ep[0],
|
|
ep[1],ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
else if (opt->rnxver<=299&&sys==SYS_GPS) {
|
|
fprintf(fp,"%2d %02d %02.0f %02.0f %02.0f %02.0f %04.1f",prn,
|
|
(int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
else {
|
|
return 0;
|
|
}
|
|
outnavf(fp,eph->f0 );
|
|
outnavf(fp,eph->f1 );
|
|
outnavf(fp,eph->f2 );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,eph->iode ); /* GPS/QZS: IODE, GAL: IODnav, BDS: AODE */
|
|
outnavf(fp,eph->crs );
|
|
outnavf(fp,eph->deln );
|
|
outnavf(fp,eph->M0 );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,eph->cuc );
|
|
outnavf(fp,eph->e );
|
|
outnavf(fp,eph->cus );
|
|
outnavf(fp,sqrt(eph->A));
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,eph->toes );
|
|
outnavf(fp,eph->cic );
|
|
outnavf(fp,eph->OMG0 );
|
|
outnavf(fp,eph->cis );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,eph->i0 );
|
|
outnavf(fp,eph->crc );
|
|
outnavf(fp,eph->omg );
|
|
outnavf(fp,eph->OMGd );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,eph->idot );
|
|
outnavf(fp,eph->code );
|
|
outnavf(fp,eph->week ); /* GPS/QZS: GPS week, GAL: GAL week, BDS: BDT week */
|
|
if (sys==SYS_GPS||sys==SYS_QZS) {
|
|
outnavf(fp,eph->flag);
|
|
}
|
|
else {
|
|
outnavf(fp,0.0); /* spare */
|
|
}
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
if (sys==SYS_GAL) {
|
|
outnavf(fp,sisa_value(eph->sva));
|
|
}
|
|
else {
|
|
outnavf(fp,uravalue(eph->sva));
|
|
}
|
|
outnavf(fp,eph->svh );
|
|
outnavf(fp,eph->tgd[0] ); /* GPS/QZS:TGD, GAL:BGD E5a/E1, BDS: TGD1 B1/B3 */
|
|
if (sys==SYS_GAL||sys==SYS_CMP) {
|
|
outnavf(fp,eph->tgd[1]); /* GAL:BGD E5b/E1, BDS: TGD2 B2/B3 */
|
|
}
|
|
else if (sys==SYS_GPS||sys==SYS_QZS) {
|
|
outnavf(fp,eph->iodc); /* GPS/QZS:IODC */
|
|
}
|
|
else {
|
|
outnavf(fp,0.0); /* spare */
|
|
}
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
if (sys!=SYS_CMP) {
|
|
ttr=time2gpst(eph->ttr,&week);
|
|
}
|
|
else {
|
|
ttr=time2bdt(gpst2bdt(eph->ttr),&week); /* gpst -> bdt */
|
|
}
|
|
outnavf(fp,ttr+(week-eph->week)*604800.0);
|
|
|
|
if (sys==SYS_GPS) {
|
|
outnavf(fp,eph->fit);
|
|
}
|
|
else if (sys==SYS_QZS) {
|
|
outnavf(fp,eph->fit>2.0?1.0:0.0);
|
|
}
|
|
else if (sys==SYS_CMP) {
|
|
outnavf(fp,eph->iodc); /* AODC */
|
|
}
|
|
else {
|
|
outnavf(fp,0.0); /* spare */
|
|
}
|
|
return fprintf(fp,"\n")!=EOF;
|
|
}
|
|
/* output RINEX GNAV file header -----------------------------------------------
|
|
* output RINEX GNAV (GLONASS navigation data) file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxgnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxgnavh:\n");
|
|
|
|
timestr_rnx(date);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"GLONASS NAV DATA","","RINEX VERSION / TYPE");
|
|
}
|
|
else { /* ver.3 */
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","R: GLONASS","RINEX VERSION / TYPE");
|
|
}
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_time(fp,SYS_GLO,opt,nav);
|
|
out_leaps(fp,SYS_GPS,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX GNAV file body -------------------------------------------------
|
|
* output RINEX GNAV (GLONASS navigation data) file body
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I rinex options
|
|
* geph_t *geph I glonass ephemeris
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxgnavb(FILE *fp, const rnxopt_t *opt, const geph_t *geph)
|
|
{
|
|
gtime_t toe;
|
|
double ep[6],tof;
|
|
int prn;
|
|
char code[32],*sep;
|
|
|
|
trace(3,"outrnxgnavb: sat=%2d\n",geph->sat);
|
|
|
|
if ((satsys(geph->sat,&prn)&opt->navsys)!=SYS_GLO) return 0;
|
|
|
|
tof=time2gpst(gpst2utc(geph->tof),NULL); /* v.3: tow in utc */
|
|
if (opt->rnxver<=299) tof=fmod(tof,86400.0); /* v.2: tod in utc */
|
|
|
|
toe=gpst2utc(geph->toe); /* gpst -> utc */
|
|
time2epoch(toe,ep);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%2d %02d %02.0f %02.0f %02.0f %02.0f %04.1f",prn,
|
|
(int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
else { /* ver.3 */
|
|
if (!sat2code(geph->sat,code)) return 0;
|
|
fprintf(fp,"%-3s %04.0f %02.0f %02.0f %02.0f %02.0f %02.0f",code,ep[0],
|
|
ep[1],ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
outnavf(fp,-geph->taun );
|
|
outnavf(fp,geph->gamn );
|
|
outnavf(fp,tof );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,geph->pos[0]/1E3);
|
|
outnavf(fp,geph->vel[0]/1E3);
|
|
outnavf(fp,geph->acc[0]/1E3);
|
|
outnavf(fp,geph->svh );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,geph->pos[1]/1E3);
|
|
outnavf(fp,geph->vel[1]/1E3);
|
|
outnavf(fp,geph->acc[1]/1E3);
|
|
outnavf(fp,geph->frq );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,geph->pos[2]/1E3);
|
|
outnavf(fp,geph->vel[2]/1E3);
|
|
outnavf(fp,geph->acc[2]/1E3);
|
|
#if 0 /* input dtaun instead of age */
|
|
outnavf(fp,geph->dtaun );
|
|
#else
|
|
outnavf(fp,geph->age );
|
|
#endif
|
|
return fprintf(fp,"\n")!=EOF;
|
|
}
|
|
/* output RINEX GEO navigation data file header --------------------------------
|
|
* output RINEX GEO navigation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxhnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxhnavh:\n");
|
|
|
|
timestr_rnx(date);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"H: GEO NAV MSG DATA","","RINEX VERSION / TYPE");
|
|
}
|
|
else { /* ver.3 */
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","S: SBAS Payload","RINEX VERSION / TYPE");
|
|
}
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_time(fp,SYS_SBS,opt,nav);
|
|
out_leaps(fp,SYS_GPS,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX GEO navigation data file body ----------------------------------
|
|
* output RINEX GEO navigation data file body
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* seph_t *seph I SBAS ephemeris
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxhnavb(FILE *fp, const rnxopt_t *opt, const seph_t *seph)
|
|
{
|
|
double ep[6];
|
|
int prn;
|
|
char code[32],*sep;
|
|
|
|
trace(3,"outrnxhnavb: sat=%2d\n",seph->sat);
|
|
|
|
if ((satsys(seph->sat,&prn)&opt->navsys)!=SYS_SBS) return 0;
|
|
|
|
time2epoch(seph->t0,ep);
|
|
|
|
if (opt->rnxver<=299) { /* ver.2 */
|
|
fprintf(fp,"%2d %02d %2.0f %2.0f %2.0f %2.0f %4.1f",prn-100,
|
|
(int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
else { /* ver.3 */
|
|
if (!sat2code(seph->sat,code)) return 0;
|
|
fprintf(fp,"%-3s %04.0f %2.0f %2.0f %2.0f %2.0f %2.0f",code,ep[0],ep[1],
|
|
ep[2],ep[3],ep[4],ep[5]);
|
|
sep=" ";
|
|
}
|
|
outnavf(fp,seph->af0 );
|
|
outnavf(fp,seph->af1 );
|
|
outnavf(fp,time2gpst(seph->tof,NULL));
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,seph->pos[0]/1E3 );
|
|
outnavf(fp,seph->vel[0]/1E3 );
|
|
outnavf(fp,seph->acc[0]/1E3 );
|
|
outnavf(fp,seph->svh );
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,seph->pos[1]/1E3 );
|
|
outnavf(fp,seph->vel[1]/1E3 );
|
|
outnavf(fp,seph->acc[1]/1E3 );
|
|
outnavf(fp,uravalue(seph->sva));
|
|
fprintf(fp,"\n%s",sep );
|
|
|
|
outnavf(fp,seph->pos[2]/1E3 );
|
|
outnavf(fp,seph->vel[2]/1E3 );
|
|
outnavf(fp,seph->acc[2]/1E3 );
|
|
outnavf(fp,0 );
|
|
|
|
return fprintf(fp,"\n")!=EOF;
|
|
}
|
|
/* output RINEX Galileo NAV header ---------------------------------------------
|
|
* output RINEX Galileo NAV file header (2.12)
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxlnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxlnavh:\n");
|
|
|
|
if (opt->rnxver<212) return 0;
|
|
|
|
timestr_rnx(date);
|
|
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","E: Galileo","RINEX VERSION / TYPE");
|
|
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_iono(fp,SYS_GAL,opt,nav);
|
|
out_time(fp,SYS_GAL,opt,nav);
|
|
out_leaps(fp,SYS_GAL,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX QZSS navigation data file header -------------------------------
|
|
* output RINEX QZSS navigation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxqnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxqnavh:\n");
|
|
|
|
if (opt->rnxver<302) return 0;
|
|
|
|
timestr_rnx(date);
|
|
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","J: QZSS","RINEX VERSION / TYPE");
|
|
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_iono(fp,SYS_QZS,opt,nav);
|
|
out_time(fp,SYS_QZS,opt,nav);
|
|
out_leaps(fp,SYS_QZS,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX BDS navigation data file header --------------------------------
|
|
* output RINEX BDS navigation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxcnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxcnavh:\n");
|
|
|
|
if (opt->rnxver<302) return 0;
|
|
|
|
timestr_rnx(date);
|
|
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","C: BeiDou","RINEX VERSION / TYPE");
|
|
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_iono(fp,SYS_CMP,opt,nav);
|
|
out_time(fp,SYS_CMP,opt,nav);
|
|
out_leaps(fp,SYS_CMP,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|
|
/* output RINEX NavIC/IRNSS navigation data file header ------------------------
|
|
* output RINEX NavIC/IRNSS navigation data file header
|
|
* args : FILE *fp I output file pointer
|
|
* rnxopt_t *opt I RINEX options
|
|
* nav_t nav I navigation data (NULL: no input)
|
|
* return : status (1:ok, 0:output error)
|
|
*-----------------------------------------------------------------------------*/
|
|
extern int outrnxinavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
|
|
{
|
|
int i;
|
|
char date[64];
|
|
|
|
trace(3,"outrnxinavh:\n");
|
|
|
|
if (opt->rnxver<303) return 0;
|
|
|
|
timestr_rnx(date);
|
|
|
|
fprintf(fp,"%9.2f %-20s%-20s%-20s\n",opt->rnxver/100.0,
|
|
"N: GNSS NAV DATA","I: IRNSS","RINEX VERSION / TYPE");
|
|
|
|
fprintf(fp,"%-20.20s%-20.20s%-20.20s%-20s\n",opt->prog,opt->runby,date,
|
|
"PGM / RUN BY / DATE");
|
|
|
|
for (i=0;i<MAXCOMMENT;i++) {
|
|
if (!*opt->comment[i]) continue;
|
|
fprintf(fp,"%-60.60s%-20s\n",opt->comment[i],"COMMENT");
|
|
}
|
|
out_iono(fp,SYS_IRN,opt,nav);
|
|
out_time(fp,SYS_IRN,opt,nav);
|
|
out_leaps(fp,SYS_IRN,opt,nav);
|
|
|
|
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
|
|
}
|