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/*------------------------------------------------------------------------------
* rnx2rtkp.c : read rinex obs/nav files and compute receiver positions
*
* Copyright (C) 2007-2009 by T.TAKASU, All rights reserved.
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:55:16 $
* history : 2007/01/16 1.0 new
* 2007/03/15 1.1 add library mode
* 2007/05/08 1.2 separate from postpos.c
* 2009/01/20 1.3 support rtklib 2.2.0 api
* 2009/12/12 1.4 support glonass
* add option -h, -a, -l, -x
* 2010/01/28 1.5 add option -k
* 2010/08/12 1.6 add option -y implementation (2.4.0_p1)
* 2014/01/27 1.7 fix bug on default output time format
* 2015/05/15 1.8 -r or -l options for fixed or ppp-fixed mode
* 2015/06/12 1.9 output patch level in header
*-----------------------------------------------------------------------------*/
#include <stdarg.h>
#include "rtklib.h"
static const char rcsid[]="$Id: rnx2rtkp.c,v 1.1 2008/07/17 21:55:16 ttaka Exp $";
#define PROGNAME "rnx2rtkp" /* program name */
#define MAXFILE 16 /* max number of input files */
/* help text -----------------------------------------------------------------*/
static const char *help[]={
"",
" usage: rnx2rtkp [option]... file file [...]",
"",
" Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and ccompute ",
" receiver (rover) positions and output position solutions.",
" The first RINEX OBS file shall contain receiver (rover) observations. For the",
" relative mode, the second RINEX OBS file shall contain reference",
" (base station) receiver observations. At least one RINEX NAV/GNAV/HNAV",
" file shall be included in input files. To use SP3 precise ephemeris, specify",
" the path in the files. The extension of the SP3 file shall be .sp3 or .eph.",
" All of the input file paths can include wild-cards (*). To avoid command",
" line deployment of wild-cards, use \"...\" for paths with wild-cards.",
" Command line options are as follows ([]:default). With -k option, the",
" processing options are input from the configuration file. In this case,",
" command line options precede options in the configuration file.",
"",
" -? print help",
" -k file input options from configuration file [off]",
" -o file set output file [stdout]",
" -ts ds ts start day/time (ds=y/m/d ts=h:m:s) [obs start time]",
" -te de te end day/time (de=y/m/d te=h:m:s) [obs end time]",
" -ti tint time interval (sec) [all]",
" -p mode mode (0:single,1:dgps,2:kinematic,3:static,4:moving-base,",
" 5:fixed,6:ppp-kinematic,7:ppp-static) [2]",
" -m mask elevation mask angle (deg) [15]",
" -f freq number of frequencies for relative mode (1:L1,2:L1+L2,3:L1+L2+L5) [2]",
" -v thres validation threshold for integer ambiguity (0.0:no AR) [3.0]",
" -b backward solutions [off]",
" -c forward/backward combined solutions [off]",
" -i instantaneous integer ambiguity resolution [off]",
" -h fix and hold for integer ambiguity resolution [off]",
" -e output x/y/z-ecef position [latitude/longitude/height]",
" -a output e/n/u-baseline [latitude/longitude/height]",
" -n output NMEA-0183 GGA sentence [off]",
" -g output latitude/longitude in the form of ddd mm ss.ss' [ddd.ddd]",
" -t output time in the form of yyyy/mm/dd hh:mm:ss.ss [sssss.ss]",
" -u output time in utc [gpst]",
" -d col number of decimals in time [3]",
" -s sep field separator [' ']",
" -r x y z reference (base) receiver ecef pos (m) [average of single pos]",
" rover receiver ecef pos (m) for fixed or ppp-fixed mode",
" -l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)",
" rover latitude/longitude/height for fixed or ppp-fixed mode",
" -y level output soltion status (0:off,1:states,2:residuals) [0]",
" -x level debug trace level (0:off) [0]"
};
/* show message --------------------------------------------------------------*/
extern int showmsg(char *format, ...)
{
va_list arg;
va_start(arg,format); vfprintf(stderr,format,arg); va_end(arg);
fprintf(stderr,"\r");
return 0;
}
extern void settspan(gtime_t ts, gtime_t te) {}
extern void settime(gtime_t time) {}
/* print help ----------------------------------------------------------------*/
static void printhelp(void)
{
int i;
for (i=0;i<(int)(sizeof(help)/sizeof(*help));i++) fprintf(stderr,"%s\n",help[i]);
exit(0);
}
/* rnx2rtkp main -------------------------------------------------------------*/
int main(int argc, char **argv)
{
prcopt_t prcopt=prcopt_default;
solopt_t solopt=solopt_default;
filopt_t filopt={""};
gtime_t ts={0},te={0};
double tint=0.0,es[]={2000,1,1,0,0,0},ee[]={2000,12,31,23,59,59},pos[3];
int i,j,n,ret;
char *infile[MAXFILE],*outfile="";
prcopt.mode =PMODE_KINEMA;
prcopt.navsys=SYS_GPS|SYS_GLO;
prcopt.refpos=1;
prcopt.glomodear=1;
solopt.timef=0;
sprintf(solopt.prog ,"%s ver.%s %s",PROGNAME,VER_RTKLIB,PATCH_LEVEL);
sprintf(filopt.trace,"%s.trace",PROGNAME);
/* load options from configuration file */
for (i=1;i<argc;i++) {
if (!strcmp(argv[i],"-k")&&i+1<argc) {
resetsysopts();
if (!loadopts(argv[++i],sysopts)) return -1;
getsysopts(&prcopt,&solopt,&filopt);
}
}
for (i=1,n=0;i<argc;i++) {
if (!strcmp(argv[i],"-o")&&i+1<argc) outfile=argv[++i];
else if (!strcmp(argv[i],"-ts")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",es,es+1,es+2);
sscanf(argv[++i],"%lf:%lf:%lf",es+3,es+4,es+5);
ts=epoch2time(es);
}
else if (!strcmp(argv[i],"-te")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",ee,ee+1,ee+2);
sscanf(argv[++i],"%lf:%lf:%lf",ee+3,ee+4,ee+5);
te=epoch2time(ee);
}
else if (!strcmp(argv[i],"-ti")&&i+1<argc) tint=atof(argv[++i]);
else if (!strcmp(argv[i],"-k")&&i+1<argc) {++i; continue;}
else if (!strcmp(argv[i],"-p")&&i+1<argc) prcopt.mode=atoi(argv[++i]);
else if (!strcmp(argv[i],"-f")&&i+1<argc) prcopt.nf=atoi(argv[++i]);
else if (!strcmp(argv[i],"-m")&&i+1<argc) prcopt.elmin=atof(argv[++i])*D2R;
else if (!strcmp(argv[i],"-v")&&i+1<argc) prcopt.thresar[0]=atof(argv[++i]);
else if (!strcmp(argv[i],"-s")&&i+1<argc) strcpy(solopt.sep,argv[++i]);
else if (!strcmp(argv[i],"-d")&&i+1<argc) solopt.timeu=atoi(argv[++i]);
else if (!strcmp(argv[i],"-b")) prcopt.soltype=1;
else if (!strcmp(argv[i],"-c")) prcopt.soltype=2;
else if (!strcmp(argv[i],"-i")) prcopt.modear=2;
else if (!strcmp(argv[i],"-h")) prcopt.modear=3;
else if (!strcmp(argv[i],"-t")) solopt.timef=1;
else if (!strcmp(argv[i],"-u")) solopt.times=TIMES_UTC;
else if (!strcmp(argv[i],"-e")) solopt.posf=SOLF_XYZ;
else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
else if (!strcmp(argv[i],"-g")) solopt.degf=1;
else if (!strcmp(argv[i],"-r")&&i+3<argc) {
prcopt.refpos=prcopt.rovpos=0;
for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);
matcpy(prcopt.ru,prcopt.rb,3,1);
}
else if (!strcmp(argv[i],"-l")&&i+3<argc) {
prcopt.refpos=prcopt.rovpos=0;
for (j=0;j<3;j++) pos[j]=atof(argv[++i]);
for (j=0;j<2;j++) pos[j]*=D2R;
pos2ecef(pos,prcopt.rb);
matcpy(prcopt.ru,prcopt.rb,3,1);
}
else if (!strcmp(argv[i],"-y")&&i+1<argc) solopt.sstat=atoi(argv[++i]);
else if (!strcmp(argv[i],"-x")&&i+1<argc) solopt.trace=atoi(argv[++i]);
else if (*argv[i]=='-') printhelp();
else if (n<MAXFILE) infile[n++]=argv[i];
}
if (n<=0) {
showmsg("error : no input file");
return -2;
}
ret=postpos(ts,te,tint,0.0,&prcopt,&solopt,&filopt,infile,n,outfile,"","");
if (!ret) fprintf(stderr,"%40s\r","");
return ret;
}
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