RTKLIB专题学习(四)---单点定位实现初识（一）

最新推荐文章于 2025-12-05 10:11:19 发布

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最新推荐文章于 2025-12-05 10:11:19 发布 · 4k 阅读

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#c语言 #RTKLIB #GNSS

本文详细解读了RTKLIB中的单点定位函数estpos，涉及加权最小二乘解算，以及如何通过pntpos调用它进行精确和单点定位。同时介绍了rtkpos在精密定位中的作用，以及整个调用链在procpos和execses中的运用。

RTKLIB专题学习(四)

今天我们来学习RTKLIB中单点定位的调用情况

1.单点定位的核心主程序，我觉得其实是这一部分

该函数完成了每个历元的接收机位置和钟差参数的解算工作，用到的是RTKLIB专题学习(三)—矩阵应用里面的加权最小二乘

/* estimate receiver position ------------------------------------------------*/
static int estpos(const obsd_t* obs, int n, const double* rs, const double* dts,
                    const double* vare, const int* svh, const nav_t* nav,
                    const prcopt_t* opt, sol_t* sol, double* azel, int* vsat,
                    double* resp, char* msg)
{
   
   
    double x[NX] = {
   
    0 },  ave = 0.0, dx[NX], Q[NX * NX], * v, * H, * H1, * var, * ele, *xp,*Pp,* R, * I, * E, * KV, sig, * P, * L, * Norv,deltax=0.0, c = 0.0005, k0 = 0.1, k1 = 2, rr = 0.0;
    int i, j, k,m, info, stat, nv, ns, num = 0;

    trace(3, "estpos  : n=%d\n", n);

    v = mat(n + 4, 1); H = mat(NX, n + 4); H1 = mat(NX, n + 4); var = mat(n + 4, 1); ele = mat(n + 4, 1);  P = eye(NX); Norv = mat(n + 4, 1); R = zeros(n + 4, n + 4); KV = mat(NX, 1);
    xp = mat(NX, 1);Pp = mat(NX, NX);

    for (i = 0; i < 3; i++) x[i] = sol->rr[i];
    for (i = 0; i < MAXITR; i++) {
   
   
        
        if (sol->num != 1)
        {
   
   
            nv = rescode(i, obs, n, rs, dts, vare, svh, nav, x, opt, v, H, var, azel, vsat, resp,
                &ns, ele, R);
        }
        else
        {
   
   
            
            matcpy(Pp,sol->P, NX, NX);
            matcpy(xp, sol->X, NX, 1);
            nv = rescode(i, obs, n, rs, dts, vare, svh, nav, xp, opt, v, H, var, azel, vsat, resp,
                &ns, ele, R);
        }
        if (nv < NX) {
   
   
            sprintf(msg, "lack of valid sats ns=%d", nv);
            break;
        }
        if ((norm(dx, NX) < 1E-4))
            {
   
   
                matcpy(sol->P,Q,  NX, NX);
                matcpy(sol->X, x, NX, 1);
                //sol->num += 1;//只有KF和xg-ls时才打开
                //sol->nm += 1;//只有KF时才打开
                sol->type = 0;
                sol->time = timeadd(obs[0].time, -x[3] / CLIGHT);
                sol->dtr[0] = x[3] / CLIGHT; /* receiver clock bias (s) */
                sol->dtr[1] = x[4] / CLIGHT; /* GLO-GPS time offset (s) */
                sol->dtr[2] = x[5] / CLIGHT; /* GAL-GPS time offset (s) */
                sol->dtr[3] = x[6] / CLIGHT; /* BDS-GPS time offset (s) */
                sol->dtr[4] = x[7] / CLIGHT; /* IRN-GPS time offset (s) */
                for (j = 0; j < 6; j++) sol->rr[j] = j < 3 ? x[j] : 0.0;
                for (j = 0; j < 3; j++) sol->qr[j] = (float)Q[j + j * NX];
                sol->qr[3] = (float)Q[1];    /* cov xy */
                sol->qr[4] = (float)Q[2 + NX]; /* cov yz */
                sol->qr[5] = (float)Q[2];    /* cov zx */
                sol->ns = (uint8_t)ns;
                sol->age = sol->ratio = 0.0;
                /* validate solution */
                if ((stat = valsol(azel, vsat, n, opt, v, nv, NX, msg))) {
   
   
                    sol->stat = opt->sateph == EPHOPT_SBAS ? SOLQ_SBAS : SOLQ_SINGLE;
                }
                if (stat) {
   
   
                    estvel(obs, n, rs, dts, nav