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Modifications for Google Decimeter Challenge 2022
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@rtklibexplorer
rtklibexplorer committed Aug 1, 2022
1 parent c0b4cd9 commit 5d7ed1a
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Showing 12 changed files with 67 additions and 48 deletions.
14 changes: 7 additions & 7 deletions app/winapp/rtkpost/postmain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ __fastcall TMainForm::TMainForm(TComponent* Owner)
DynamicModel=IonoOpt=TropOpt=RovAntPcv=RefAntPcv=AmbRes=0;
RovPosType=RefPosType=0;
OutCntResetAmb=5; LockCntFixAmb=5; FixCntHoldAmb=10;
MaxAgeDiff=30.0; RejectThres=30.0; RejectGdop=30.0;
MaxAgeDiff=30.0; RejectPhase=30.0; RejectCode=30.0;
MeasErrR1=MeasErrR2=MeasErrR5=100.0; MeasErr2=0.004; MeasErr3=0.003; MeasErr4=1.0;
SatClkStab=1E-11; ValidThresAR=3.0; ValidThresARMin=3.0; ValidThresARMax=3.0;
RovAntE=RovAntN=RovAntU=RefAntE=RefAntN=RefAntU=0.0;
Expand Down Expand Up @@ -905,8 +905,8 @@ int __fastcall TMainForm::GetOption(prcopt_t &prcopt, solopt_t &solopt,
prcopt.thresslip=SlipThres;
prcopt.thresdop=DopThres;
prcopt.maxtdiff =MaxAgeDiff;
prcopt.maxgdop =RejectGdop;
prcopt.maxinno =RejectThres;
prcopt.maxinno[1]=RejectCode;
prcopt.maxinno[0]=RejectPhase;
prcopt.varholdamb=VarHoldAmb;
prcopt.gainholdamb=GainHoldAmb;
prcopt.outsingle=OutputSingle;
Expand Down Expand Up @@ -1260,10 +1260,10 @@ void __fastcall TMainForm::LoadOpt(void)
SlipThres =ini->ReadFloat ("opt","slipthres", 0.05);
DopThres =ini->ReadFloat ("opt","dopthres", 0.0);
MaxAgeDiff =ini->ReadFloat ("opt","maxagediff", 30.0);
RejectThres =ini->ReadFloat ("opt","rejectthres", 30.0);
RejectPhase =ini->ReadFloat ("opt","rejectphase", 5.0);
VarHoldAmb =ini->ReadFloat ("opt","varholdamb", 0.1);
GainHoldAmb =ini->ReadFloat ("opt","gainholdamb", 0.01);
RejectGdop =ini->ReadFloat ("opt","rejectgdop", 30.0);
RejectCode =ini->ReadFloat ("opt","rejectcode", 30.0);
ARIter =ini->ReadInteger("opt","ariter", 1);
NumIter =ini->ReadInteger("opt","numiter", 1);
MinFixSats =ini->ReadInteger("opt","minfixsats", 4);
Expand Down Expand Up @@ -1484,8 +1484,8 @@ void __fastcall TMainForm::SaveOpt(void)
ini->WriteFloat ("opt","slipthres", SlipThres );
ini->WriteFloat ("opt","dopthres", DopThres );
ini->WriteFloat ("opt","maxagediff", MaxAgeDiff );
ini->WriteFloat ("opt","rejectgdop", RejectGdop );
ini->WriteFloat ("opt","rejectthres", RejectThres );
ini->WriteFloat ("opt","rejectcode", RejectCode );
ini->WriteFloat ("opt","rejectphase", RejectPhase );
ini->WriteFloat ("opt","varholdamb", VarHoldAmb );
ini->WriteFloat ("opt","gainholdamb", GainHoldAmb );
ini->WriteInteger("opt","ariter", ARIter );
Expand Down
2 changes: 1 addition & 1 deletion app/winapp/rtkpost/postmain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -202,7 +202,7 @@ class TMainForm : public TForm
int SbasCorr,SbasCorr1,SbasCorr2,SbasCorr3,SbasCorr4,TimeDecimal;
int SolStatic,SbasSat,MapFunc;
int PosOpt[6];
double ElMask,MaxAgeDiff,RejectThres,VarHoldAmb,GainHoldAmb,RejectGdop;
double ElMask,MaxAgeDiff,VarHoldAmb,GainHoldAmb,RejectCode,RejectPhase;
double MeasErrR1,MeasErrR2,MeasErrR5,MeasErr2,MeasErr3,MeasErr4,MeasErr5;
double MeasErr6,MeasErr7,MeasErr8;
double SatClkStab,RovAntE,RovAntN,RovAntU,RefAntE,RefAntN,RefAntU;
Expand Down
20 changes: 11 additions & 9 deletions app/winapp/rtkpost/postopt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -391,8 +391,8 @@ void __fastcall TOptDialog::GetOpt(void)
ElMaskAR ->Text =s.sprintf("%.0f",MainForm->ElMaskAR);
ElMaskHold ->Text =s.sprintf("%.0f",MainForm->ElMaskHold);
MaxAgeDiff ->Text =s.sprintf("%.1f",MainForm->MaxAgeDiff);
RejectGdop ->Text =s.sprintf("%.1f",MainForm->RejectGdop);
RejectThres ->Text =s.sprintf("%.1f",MainForm->RejectThres);
RejectCode ->Text =s.sprintf("%.1f",MainForm->RejectCode);
RejectPhase ->Text =s.sprintf("%.1f",MainForm->RejectPhase);
VarHoldAmb ->Text =s.sprintf("%.4f",MainForm->VarHoldAmb);
GainHoldAmb ->Text =s.sprintf("%.4f",MainForm->GainHoldAmb);
SlipThres ->Text =s.sprintf("%.3f",MainForm->SlipThres);
Expand Down Expand Up @@ -526,8 +526,8 @@ void __fastcall TOptDialog::SetOpt(void)
MainForm->ElMaskAR =ElMaskAR ->Text.ToInt();
MainForm->ElMaskHold =ElMaskHold ->Text.ToInt();
MainForm->MaxAgeDiff =str2dbl(MaxAgeDiff ->Text);
MainForm->RejectGdop =str2dbl(RejectGdop ->Text);
MainForm->RejectThres =str2dbl(RejectThres->Text);
MainForm->RejectCode =str2dbl(RejectCode ->Text);
MainForm->RejectPhase =str2dbl(RejectPhase->Text);
MainForm->VarHoldAmb =str2dbl(VarHoldAmb->Text);
MainForm->GainHoldAmb =str2dbl(GainHoldAmb->Text);
MainForm->SlipThres =str2dbl(SlipThres ->Text);
Expand Down Expand Up @@ -676,8 +676,8 @@ int ppp=PosMode->ItemIndex>=PMODE_PPP_KINEMA;
ElMaskAR ->Text =s.sprintf("%.0f",prcopt.elmaskar*R2D);
ElMaskHold ->Text =s.sprintf("%.0f",prcopt.elmaskhold*R2D);
MaxAgeDiff ->Text =s.sprintf("%.1f",prcopt.maxtdiff );
RejectGdop ->Text =s.sprintf("%.1f",prcopt.maxgdop );
RejectThres ->Text =s.sprintf("%.1f",prcopt.maxinno );
RejectCode ->Text =s.sprintf("%.1f",prcopt.maxinno[1] );
RejectPhase ->Text =s.sprintf("%.1f",prcopt.maxinno[0] );
VarHoldAmb ->Text =s.sprintf("%.5f",prcopt.varholdamb);
GainHoldAmb ->Text =s.sprintf("%.5f",prcopt.gainholdamb);
SlipThres ->Text =s.sprintf("%.3f",prcopt.thresslip);
Expand Down Expand Up @@ -837,8 +837,8 @@ int ppp=PosMode->ItemIndex>=PMODE_PPP_KINEMA;
prcopt.elmaskar =str2dbl(ElMaskAR ->Text)*D2R;
prcopt.elmaskhold=str2dbl(ElMaskHold->Text)*D2R;
prcopt.maxtdiff =str2dbl(MaxAgeDiff ->Text);
prcopt.maxgdop =str2dbl(RejectGdop ->Text);
prcopt.maxinno =str2dbl(RejectThres->Text);
prcopt.maxinno[1]=str2dbl(RejectCode ->Text);
prcopt.maxinno[0]=str2dbl(RejectPhase->Text);
prcopt.varholdamb=str2dbl(VarHoldAmb->Text);
prcopt.gainholdamb=str2dbl(GainHoldAmb->Text);
prcopt.thresslip=str2dbl(SlipThres ->Text);
Expand Down Expand Up @@ -958,7 +958,8 @@ void __fastcall TOptDialog::UpdateEnable(void)
SlipThres ->Enabled=rtk||ppp;
DopThres ->Enabled=rtk||ppp;
MaxAgeDiff ->Enabled=rel;
RejectThres ->Enabled=rel||ppp;
RejectPhase ->Enabled=rel||ppp;
RejectCode ->Enabled=rel||ppp;
VarHoldAmb ->Enabled=ar;
GainHoldAmb ->Enabled=ar&&AmbRes->ItemIndex==3;
//ARIter ->Enabled=ppp;
Expand Down Expand Up @@ -1134,3 +1135,4 @@ void __fastcall TOptDialog::BtnFreqClick(TObject *Sender)




8 changes: 4 additions & 4 deletions app/winapp/rtkpost/postopt.dfm
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Original file line number Diff line number Diff line change
Expand Up @@ -498,9 +498,9 @@ object OptDialog: TOptDialog
object Label11: TLabel
Left = 24
Top = 170
Width = 176
Width = 179
Height = 13
Caption = 'Reject Threshold of GDOP/Innov (m)'
Caption = 'Outlier Threshold for Code/Phase (m)'
end
object Label37: TLabel
Left = 25
Expand Down Expand Up @@ -609,7 +609,7 @@ object OptDialog: TOptDialog
TabOrder = 9
Text = '30'
end
object RejectThres: TEdit
object RejectPhase: TEdit
Left = 325
Top = 167
Width = 75
Expand Down Expand Up @@ -682,7 +682,7 @@ object OptDialog: TOptDialog
TabOrder = 6
Text = '0'
end
object RejectGdop: TEdit
object RejectCode: TEdit
Left = 248
Top = 167
Width = 75
Expand Down
4 changes: 2 additions & 2 deletions app/winapp/rtkpost/postopt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ class TOptDialog : public TForm
TEdit *ElMaskAR;
TEdit *SlipThres;
TEdit *MaxAgeDiff;
TEdit *RejectThres;
TEdit *RejectPhase;
TEdit *NumIter;
TTabSheet *TabSheet3;
TLabel *LabelSolFormat;
Expand Down Expand Up @@ -175,7 +175,7 @@ class TOptDialog : public TForm
TButton *BtnBLQFile;
TEdit *MeasErrR2;
TEdit *ElMaskHold;
TEdit *RejectGdop;
TEdit *RejectCode;
TLabel *Label39;
TLabel *Label40;
TComboBox *IntpRefObs;
Expand Down
6 changes: 3 additions & 3 deletions src/options.c
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Expand Up @@ -113,9 +113,9 @@ EXPORT opt_t sysopts[]={
{"pos2-maxage", 1, (void *)&prcopt_.maxtdiff, "s" },
{"pos2-syncsol", 3, (void *)&prcopt_.syncsol, SWTOPT },
{"pos2-slipthres", 1, (void *)&prcopt_.thresslip, "m" },
{"pos2-dopthres", 1, (void *)&prcopt_.thresdop, "m" },
{"pos2-rejionno", 1, (void *)&prcopt_.maxinno, "m" },
{"pos2-rejgdop", 1, (void *)&prcopt_.maxgdop, "" },
{"pos2-dopthres", 1, (void *)&prcopt_.thresdop, "m" },
{"pos2-rejionno", 1, (void *)&prcopt_.maxinno[0], "m" },
{"pos2-rejcode", 1, (void *)&prcopt_.maxinno[1], "m" },
{"pos2-niter", 0, (void *)&prcopt_.niter, "" },
{"pos2-baselen", 1, (void *)&prcopt_.baseline[0],"m" },
{"pos2-basesig", 1, (void *)&prcopt_.baseline[1],"m" },
Expand Down
3 changes: 2 additions & 1 deletion src/pntpos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
#define ERR_CBIAS 0.3 /* code bias error Std (m) */
#define REL_HUMI 0.7 /* relative humidity for Saastamoinen model */
#define MIN_EL (5.0*D2R) /* min elevation for measurement error (rad) */
# define MAX_GDOP 30 /* max gdop for valid solution */

/* pseudorange measurement error variance ------------------------------------*/
static double varerr(const prcopt_t *opt, const ssat_t *ssat, const obsd_t *obs, double el, int sys)
Expand Down Expand Up @@ -383,7 +384,7 @@ static int valsol(const double *azel, const int *vsat, int n,
ns++;
}
dops(ns,azels,opt->elmin,dop);
if (dop[0]<=0.0||dop[0]>opt->maxgdop) {
if (dop[0]<=0.0||dop[0]>MAX_GDOP) {
sprintf(msg,"gdop error nv=%d gdop=%.1f",nv,dop[0]);
return 0;
}
Expand Down
21 changes: 17 additions & 4 deletions src/postpos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -242,6 +242,7 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
{
gtime_t time={0};
int i,nu,nr,n=0;
double dt,dt_next;

trace(3,"\ninfunc : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs);

Expand All @@ -254,12 +255,18 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
if (!revs) { /* input forward data */
if ((nu=nextobsf(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
/* interpolate nearest timestamps */
for (;(nr=nextobsf(&obss,&iobsr,2))>0;iobsr+=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)>-DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
/* find closest timestamp */
dt=timediff(obss.data[i].time,obss.data[iobsu].time);
for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr) {
dt_next=timediff(obss.data[i].time,obss.data[iobsu].time);
if (fabs(dt_next)>fabs(dt)) break;
dt=dt_next;
}
}
nr=nextobsf(&obss,&iobsr,2);
if (nr<=0) {
Expand Down Expand Up @@ -287,12 +294,18 @@ static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
else { /* input backward data */
if ((nu=nextobsb(&obss,&iobsu,1))<=0) return -1;
if (popt->intpref) {
/* interpolate nearest timestamps */
for (;(nr=nextobsb(&obss,&iobsr,2))>0;iobsr-=nr)
if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)<DTTOL) break;
}
else {
for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr)
if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
/* find closest timestamp */
dt=timediff(obss.data[i].time,obss.data[iobsu].time);
for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr) {
dt_next=timediff(obss.data[i].time,obss.data[iobsu].time);
if (fabs(dt_next)>fabs(dt)) break;
dt=dt_next;
}
}
nr=nextobsb(&obss,&iobsr,2);
for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu-nu+1+i];
Expand Down
2 changes: 1 addition & 1 deletion src/ppp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1038,7 +1038,7 @@ static int ppp_res(int post, const obsd_t *obs, int n, const double *rs,
code?"P":"L",frq+1,v[nv],sqrt(var[nv]),azel[1+i*2]*R2D);

/* reject satellite by pre-fit residuals */
if (!post&&opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) {
if (!post&&opt->maxinno[code]>0.0&&fabs(v[nv])>opt->maxinno[code]) {
trace(2,"outlier (%d) rejected %s sat=%2d %s%d res=%9.4f el=%4.1f\n",
post,str,sat,code?"P":"L",frq+1,v[nv],azel[1+i*2]*R2D);
exc[i]=1; rtk->ssat[sat-1].rejc[frq]++;
Expand Down
3 changes: 2 additions & 1 deletion src/rtkcmn.c
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Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,8 @@ const prcopt_t prcopt_default={ /* defaults processing options */
5E-12, /* sclkstab */
{3.0,0.25,0.0,1E-9,1E-5,3.0,3.0,0.0}, /* thresar */
0.0,0.0,0.05,0, /* elmaskar,elmaskhold,thresslip,thresdop, */
0.1,0.01,30.0,5.0,30.0, /* varholdamb,gainholdamb,maxtdif,maxinno,maxgdop */
0.1,0.01,30.0, /* varholdamb,gainholdamb,maxtdif */
{5.0,30.0}, /* maxinno {phase,code} */
{0},{0},{0}, /* baseline,ru,rb */
{"",""}, /* anttype */
{{0}},{{0}},{0}, /* antdel,pcv,exsats */
Expand Down
7 changes: 3 additions & 4 deletions src/rtklib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ extern "C" {

#define VER_RTKLIB "demo5" /* library version */

#define PATCH_LEVEL "b34f.1" /* patch level */
#define PATCH_LEVEL "gdsc_2022" /* patch level */

#define COPYRIGHT_RTKLIB \
"Copyright (C) 2007-2020 T.Takasu\nAll rights reserved."
Expand Down Expand Up @@ -100,7 +100,7 @@ extern "C" {
#define FREQ3_CMP 1.26852E9 /* BDS B3 frequency (Hz) */

#define EFACT_GPS 1.0 /* error factor: GPS */
#define EFACT_GLO 1.5 /* error factor: GLONASS */
#define EFACT_GLO 0.75 /* error factor: GLONASS */
#define EFACT_GAL 1.0 /* error factor: Galileo */
#define EFACT_QZS 1.0 /* error factor: QZSS */
#define EFACT_CMP 1.0 /* error factor: BeiDou */
Expand Down Expand Up @@ -1022,8 +1022,7 @@ typedef struct { /* processing options type */
double varholdamb; /* variance for fix-and-hold psuedo measurements (cycle^2) */
double gainholdamb; /* gain used for GLO and SBAS sats to adjust ambiguity */
double maxtdiff; /* max difference of time (sec) */
double maxinno; /* reject threshold of innovation (m) */
double maxgdop; /* reject threshold of gdop */
double maxinno[2]; /* reject threshold of innovation for code and phase (m) */
double baseline[2]; /* baseline length constraint {const,sigma} (m) */
double ru[3]; /* rover position for fixed mode {x,y,z} (ecef) (m) */
double rb[3]; /* base position for relative mode {x,y,z} (ecef) (m) */
Expand Down
25 changes: 14 additions & 11 deletions src/rtkpos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -404,10 +404,13 @@ static double varerr(int sat, int sys, double el, double snr_rover, double snr_b
int nf=NF(opt),frq,code;

frq=f%nf;code=f<nf?0:1;

/* increase variance for pseudoranges */
if (code) fact=opt->eratio[frq];
if (fact<=0.0) fact=opt->eratio[0];
/* adjust variances for constellation */
if (code) fact=opt->eratio[frq];
/* else adjust variance between freqs */
else fact=opt->eratio[frq]/opt->eratio[0];

/* adjust variance for constellation */
switch (sys) {
case SYS_GPS: fact*=EFACT_GPS;break;
case SYS_GLO: fact*=EFACT_GLO;break;
Expand Down Expand Up @@ -487,7 +490,7 @@ static void udpos(rtk_t *rtk, double tt)
}
/* initialize position for first epoch */
if (norm(rtk->x,3)<=0.0) {
trace(3,"rr=");tracemat(3,rtk->sol.rr,1,6,15,6);
trace(3,"rr_init=");tracemat(3,rtk->sol.rr,1,6,15,6);
for (i=0;i<3;i++) initx(rtk,rtk->sol.rr[i],VAR_POS,i);
if (rtk->opt.dynamics) {
for (i=3;i<6;i++) initx(rtk,rtk->sol.rr[i],VAR_VEL,i);
Expand Down Expand Up @@ -896,7 +899,7 @@ static void udstate(rtk_t *rtk, const obsd_t *obs, const int *sat,

/* temporal update of position/velocity/acceleration */
udpos(rtk,tt);

/* temporal update of ionospheric parameters */
if (rtk->opt.ionoopt>=IONOOPT_EST) {
bl=baseline(rtk->x,rtk->rb,dr);
Expand Down Expand Up @@ -1184,7 +1187,7 @@ static int ddres(rtk_t *rtk, const nav_t *nav, const obsd_t *obs, double dt, con
int ii,jj,frq,code;

trace(3,"ddres : dt=%.4f ns=%d\n",dt,ns);

/* bl=distance from base to rover, dr=x,y,z components */
bl=baseline(x,rtk->rb,dr);
/* translate ecef pos to geodetic pos */
Expand Down Expand Up @@ -1325,9 +1328,9 @@ static int ddres(rtk_t *rtk, const nav_t *nav, const obsd_t *obs, double dt, con

/* if residual too large, flag as outlier */
/* adjust threshold by error stdev ratio unless one of the phase biases was just initialized*/
threshadj=code||(P[ii+rtk->nx*ii]==SQR(rtk->opt.std[0]))||
(P[jj+rtk->nx*jj]==SQR(rtk->opt.std[0]))?opt->eratio[frq]:1;
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno*threshadj) {
threshadj=(P[ii+rtk->nx*ii]==SQR(rtk->opt.std[0]))||
(P[jj+rtk->nx*jj]==SQR(rtk->opt.std[0]))?10:1;
if (fabs(v[nv])>opt->maxinno[code]*threshadj) {
rtk->ssat[sat[j]-1].vsat[frq]=0;
rtk->ssat[sat[j]-1].rejc[frq]++;
errmsg(rtk,"outlier rejected (sat=%3d-%3d %s%d v=%.3f)\n",
Expand Down Expand Up @@ -2019,7 +2022,7 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
/* update state and covariance matrix from kalman filter update */
matcpy(rtk->x,xp,rtk->nx,1);
matcpy(rtk->P,Pp,rtk->nx,rtk->nx);

/* update valid satellite status for ambiguity control */
rtk->sol.ns=0;
for (i=0;i<ns;i++) for (f=0;f<nf;f++) {
Expand Down Expand Up @@ -2123,7 +2126,7 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
free(xp); free(Pp); free(xa); free(v); free(H); free(R); free(bias);

if (stat!=SOLQ_NONE) rtk->sol.stat=stat;

return stat!=SOLQ_NONE;
}
/* initialize RTK control ------------------------------------------------------
Expand Down

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