RTKLIB单点定位处理流程之一（postpos/后处理）
版本：
#define VER_RTKLIB "2.4.3" /* library version */
#define PATCH_LEVEL "b29" /* patch level */
处理参数设置：主要是三个结构体：
prcopt_t opt = prcopt_default; //processing options
solopt_t sopt = solopt_default; //solution options
filopt_t fopt = { 0 }; //file options
#include "rtklib.h"
int main() {char* infile[] = { {"移动站观测数据"},{"移动站星历文件"} };char* ofile = { "输出结果文件/myposbyVS.pos" };gtime_t ts = { 0 }, te = { 0 };double st[] = { 2019,12,5,0,0,0 }; //开始处理时间double ed[] = { 2019,12,5,1,0,0 }; //结束处理时间ts = epoch2time(st);te = epoch2time(ed);double ti = 0.0; // processing interval(s) (0:all) 时间间隔double tu = 0.0; // processing unit time(s) (0:all)prcopt_t opt = prcopt_default; //processing optionssolopt_t sopt = solopt_default; //solution optionsfilopt_t fopt = { 0 }; //file optionsint n = 2; //number of input files//GPS单点定位参数设置opt.navsys = SYS_GPS;opt.mode = PMODE_SINGLE; // PMODE_SINGLE; // PMODE_MOVEB; // ; PMODE_FIXED opt.nf = 1; /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) */opt.elmin = 10 * D2R;opt.ionoopt = IONOOPT_BRDC; /* ionosphere option (IONOOPT_???) */opt.tropopt = TROPOPT_SAAS; /* troposphere option (TROPOPT_???) */opt.dynamics = 0; /* dynamics model (0:none,1:velociy,2:accel) */opt.tidecorr = 0; /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */opt.niter = 1; /* number of filter iteration */opt.codesmooth = 0; /* code smoothing window size (0:none) */opt.rovpos = 0; /* rover position for fixed mode */opt.refpos = 0; /* base position for relative mode *//* (0:pos in prcopt, 1:average of single pos, *//* 2:read from file, 3:rinex header, 4:rtcm pos) *///opt.eratio[] = {100.0,100.0}; /* code/phase error ratio *///opt.err[] = { 100.0,0.003,0.003,0.0,1.0 }; /* err[] *//* measurement error factor *//* [0]:reserved *//* [1-3]:error factor a/b/c of phase (m) *//* [4]:doppler frequency (hz) *///opt.std[] = { 30.0,0.03,0.3 }; /* std[] *//* initial-state std [0]bias,[1]iono [2]trop *///opt.prn[] = { 1E-4,1E-3,1E-4,1E-1,1E-2 ,0.0 };/* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos *///求解选项定义sopt.posf = SOLF_LLH; // SOLF_XYZ; // SOLF_ENU;sopt.times = TIMES_GPST; /* time system: gps time */sopt.timef = 1; /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */sopt.timeu = 3; /* time digits under decimal point */sopt.degf = 0; /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */sopt.outhead = 1; /* output header (0:no,1:yes) */sopt.outopt = 1; /* output processing options (0:no,1:yes) */sopt.outvel = 1; /* output velocity options (0:no,1:yes) */sopt.datum = 0; /* datum (0:WGS84,1:Tokyo) */sopt.height = 0; /* height (0:ellipsoidal,1:geodetic) */sopt.geoid = 0; /* geoid model (0:EGM96,1:JGD2000) */sopt.solstatic = 0; /* solution of static mode (0:all,1:single) */sopt.sstat = 1; /* solution statistics level (0:off,1:states,2:residuals) */sopt.trace = 3; /* debug trace level (0:off,1-5:debug) *///sopt.nmeaintv[] = { 0.0,0.0 }; /* nmea output interval (s) (<0:no,0:all) *//* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv *///sopt.sep[] = " "; /* field separator *///sopt.prog[] = ""; /* program name *///sopt.maxsolstd = 0; /* max std-dev for solution output (m) (0:all) *///文件设置选项 /* file options type */// #define MAXSTRPATH 1024 /* max length of stream path *///fopt.satantp[MAXSTRPATH] = { 0 }; /* satellite antenna parameters file *///fopt.rcvantp[MAXSTRPATH] = { 0 }; /* receiver antenna parameters file *///fopt.stapos[MAXSTRPATH] = { 0 }; /* station positions file *///fopt.geoid[MAXSTRPATH] = { 0 }; /* external geoid data file *///fopt.iono[MAXSTRPATH] = { 0 }; /* ionosphere data file *///fopt.dcb[MAXSTRPATH] = { 0 }; /* dcb data file *///fopt.eop[MAXSTRPATH] = { 0 }; /* eop data file *///fopt.blq[MAXSTRPATH] = { 0 }; /* ocean tide loading blq file *///fopt.tempdir[MAXSTRPATH] = { 0 }; /* ftp/http temporaly directory *///fopt.geexe[MAXSTRPATH] = { 0 }; /* google earth exec file *///fopt.solstat[MAXSTRPATH] = { 0 }; /* solution statistics file *///fopt.trace[MAXSTRPATH] = { 0 }; /* debug trace file */postpos(ts,te,ti,tu,&opt,&sopt,&fopt,infile,n,ofile,"","");printf("*********postpos over*********\n");getchar();return 0;
}函数调用关系：
首先通过函数：postpos(ts,te,ti,tu,&opt,&sopt,&fopt,infile,n,ofile,"","");进入子函数；
openses函数：预处理
目的：通过读取filopt_t fopt中的参数，其中filopt_t结构体定义如下，实现对‘文件的读取’，读取子函数为openses！
typedef struct { /* file options type */char satantp[MAXSTRPATH]; /* satellite antenna parameters file */char rcvantp[MAXSTRPATH]; /* receiver antenna parameters file */char stapos [MAXSTRPATH]; /* station positions file */char geoid [MAXSTRPATH]; /* external geoid data file */char iono [MAXSTRPATH]; /* ionosphere data file */char dcb [MAXSTRPATH]; /* dcb data file */char eop [MAXSTRPATH]; /* eop data file */char blq [MAXSTRPATH]; /* ocean tide loading blq file */char tempdir[MAXSTRPATH]; /* ftp/http temporaly directory */char geexe [MAXSTRPATH]; /* google earth exec file */char solstat[MAXSTRPATH]; /* solution statistics file */char trace [MAXSTRPATH]; /* debug trace file */
} filopt_t;/* open procssing session ----------------------------------------------------*/
static int openses(const prcopt_t *popt, const solopt_t *sopt,const filopt_t *fopt, nav_t *nav, pcvs_t *pcvs, pcvs_t *pcvr)然后为：判断处理时间是否正确，否则程序终止；
然后为：通过malloc函数为ifile[]，动态分配内存，否则程序终止；
然后为：进行文件的读取，对于sp3/SP3、.eph/EPH文件的时间，起使和终止相差1小时；brdc文件的开始和终止时间差2小时。
然后为：路径替换，实现语句：
nf+=reppaths(infile[j],ifile+nf,MAXINFILE-nf,tts,ttte,"","");
子函数内实现语句：
reppath(path,rpath[n],time,rov,base);经过两次读取循环，已经将观测、导航文件读取到ifie数组中：
将输出结果文件路径保存到ofile数组中：
if (!reppath(outfile,ofile,tts,"","")&&i>0) flag=0;
子函数实现代码：
strcpy(rpath,path);execses_b
在main中，输入文件中：第一个为观测文件，第二个为导航文件；
1、readpreceph
/* 读取文件为：read prec ephemeris, sbas data, lex data, tec grid and open rtcm ----------*/
static void readpreceph(char **infile, int n, const prcopt_t *prcopt,nav_t *nav, sbs_t *sbs, lex_t *lex)
读取文件的函数依次为：
/* read precise ephemeris files */
/* read precise clock files */
/* read satellite fcb files */
/* read solution status files for ppp correction */
/* read sbas message files */
/* read lex message files */
/* allocate sbas ephemeris */
/* set rtcm file and initialize rtcm struct */
以函数：readsp3为例
/* read precise ephemeris files */for (i=0;i<n;i++) {if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;readsp3(infile[i],nav,0);}第一次循环读入的是观测文件，因此进入函数之后，动态分配内存、释放内存，结束！
第二次循环读入的是导航文件，因此进入函数之后，动态分配内存、释放内存，结束！
在函数readrnxc中：读取钟差文件时，读取导航文件时，将导航文件，文件头的相关参数保存到nav中：
/* read precise clock files */for (i=0;i<n;i++) {if (strstr(infile[i],"%r")||strstr(infile[i],"%b")) continue;readrnxc(infile[i],nav);}导航文件，文件头为：
nav:
2、execses_r
stat=execses_r(ts,te,ti,popt,sopt,fopt,flag,infile,index,n,outfile,rov);
2.1 execses
stat=execses(ts,te,ti,popt,sopt,fopt,flag,infile,index,n,outfile);
如果main函数中，设置了调试等级：
sopt.sstat = 1; /* solution statistics level (0:off,1:states,2:residuals) */sopt.trace = 3; /* debug trace level (0:off,1-5:debug) */则在此处新建生成的调试数据，保存的路径、文件名
/* open debug trace */if (flag&&sopt->trace>0) {if (*outfile) {strcpy(tracefile,outfile);strcat(tracefile,".trace"); //输出文件名，后加.trace}else {strcpy(tracefile,fopt->trace);}traceclose(); //关闭记录文件traceopen(tracefile); //开始对 trace文件进行写处理tracelevel(sopt->trace); //读取调试等级}顺序执行，子函数如下：
1、/* read ionosphere data file */ 读取数据放到如下结构体中：
typedef struct { /* TEC grid type */gtime_t time; /* epoch time (GPST) */int ndata[3]; /* TEC grid data size {nlat,nlon,nhgt} */double rb; /* earth radius (km) */double lats[3]; /* latitude start/interval (deg) */double lons[3]; /* longitude start/interval (deg) */double hgts[3]; /* heights start/interval (km) */double *data; /* TEC grid data (tecu) */float *rms; /* RMS values (tecu) */
} tec_t;2、/* read erp data */ 读取数据放到如下结构体中：
typedef struct { /* earth rotation parameter type */int n,nmax; /* number and max number of data */erpd_t *data; /* earth rotation parameter data */
} erp_t;3、/* read obs and nav data */
其中观测数据结构体的使用：
typedef struct { /* observation data record */gtime_t time; /* receiver sampling time (GPST) */unsigned char sat,rcv; /* satellite/receiver number */unsigned char SNR [NFREQ+NEXOBS]; /* signal strength (0.25 dBHz) */unsigned char LLI [NFREQ+NEXOBS]; /* loss of lock indicator */unsigned char code[NFREQ+NEXOBS]; /* code indicator (CODE_???) */double L[NFREQ+NEXOBS]; /* observation data carrier-phase (cycle) */double P[NFREQ+NEXOBS]; /* observation data pseudorange (m) */float D[NFREQ+NEXOBS]; /* observation data doppler frequency (Hz) */
} obsd_t;typedef struct { /* observation data */int n,nmax; /* number of obervation data/allocated */obsd_t *data; /* observation data records */
} obs_t;2.1.1 readobsnav
函数： static int readobsnav(gtime_t ts, gtime_t te, double ti, char **infile,const int *index, int n, const prcopt_t *prcopt,obs_t *obs, nav_t *nav, sta_t *sta)
程序中，每次都是将相关的变量置0、指针变量赋值为null
obs->data=NULL; obs->n =obs->nmax =0;nav->eph =NULL; nav->n =nav->nmax =0;nav->geph=NULL; nav->ng=nav->ngmax=0;nav->seph=NULL; nav->ns=nav->nsmax=0;nepoch=0;2.1.1.1 readrnxt
/* read rinex obs and nav files ------------------------------------------------
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)
2.1.1.1.1 readrnxfile
调用子函数：
stat=readrnxfile(files[i],ts,te,tint,opt,0,rcv,&type,obs,nav,sta);
调用子函数：
if (sta) init_sta(sta);
2.1.1.1.1.1 readrnxfp
stat=readrnxfp(fp,ts,te,tint,opt,flag,index,type,obs,nav,sta);
调用子函数：先读头文件，判断.o或.n；然后进行body读取
2.1.1.1.1.1.1 readrnxh
[.1] static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
先读取文件头1部分，再通过调用子函数读取2部分（见下图）
读取Rinex文件头的代码实现：
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")) { /* opt *//* read cnes wl satellite fractional bias */if (strstr(buff,"WIDELANE SATELLITE FRACTIONAL BIASES")||strstr(buff,"WIDELANE SATELLITE FRACTIONNAL BIASES")) {block=1;}else if (block) {/* cnes/cls grg clock */if (!strncmp(buff,"WL",2)&&(sat=satid2no(buff+3))&&sscanf(buff+40,"%lf",&bias)==1) {nav->wlbias[sat-1]=bias;}/* cnes ppp-wizard clock */else if ((sat=satid2no(buff+1))&&sscanf(buff+6,"%lf",&bias)==1) {nav->wlbias[sat-1]=bias;}}continue; }/* file type */switch (*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 */}如下示例一个观测文件的头文件：
其中，数据类型为：C1 L1 P1 C2 L2 P2 C5 L5；rinex版本为：2.11；在程序中数据类型保存为：
调用子函数：
/* decode obs header ---------------------------------------------------------*/
static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
2.1.1.1.1.1.2 readrnxobs
[.2]读取Rinex Body /* read rinex body */
具体实现代码如下：
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);}读取观测文件，首先为： obsd_t *data; 分配内存：
if (!(data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))) return 0;
其中; #define MAXOBS 64 /* max number of obs in an epoch */
2.1.1.1.1.1.2.1 readrnxobsb 循环读取观测数据：
static int readrnxobsb(FILE *fp, const char *opt, double ver, int *tsys,char tobs[][MAXOBSTYPE][4], int *flag, obsd_t *data,
sta_t *sta)
/* read rinex obs data body */while ((n=readrnxobsb(fp,opt,ver,tsys,tobs,&flag,data,sta))>=0&&stat>=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=(unsigned char)rcv;/* save obs data */if ((stat=addobsdata(obs,data+i))<0) break;}}读入Rinex观测文件每一个历元的时间后，进入子函数（decode_obsepoch）：读取每一个历元的卫星个数，即下图中的第一个红框
/* decode obs epoch ----------------------------------------------------------*/
static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,int *flag, int *sats)
读取上图中的第二个红框：
子函数： /* decode obs data */
if (decode_obsdata(fp,buff,ver,mask,index,data+n)&&n<MAXOBS) n++;
每一历元的观测数据读取完成后，对LLI标识的周跳进行处理：
输入文件中，第一个为移动站观测文件；当读取完第一个观测文件后，又开始如下图的循环：
本例程中，存在两个输入文件分别为：移动站观测文件、移动站导航文件；
注意点：当读取到导航文件头文件中的GPS电离层α、β参数时，
程序跳转到此处：
将观测、导航文件的数据读取出来，并保存到相应的结构体中：obs_t *obs, nav_t *nav
下一步就是：
/* sort observation data */
nepoch=sortobs(obs);
4、/* read dcb parameters */
保存在：nav_t *nav 里面的cbias、rbias中：
double cbias[MAXSAT][3]; /* satellite dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
double rbias[MAXRCV][2][3]; /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
5、/* set antenna paramters 设置天线参数*/
6、/* read ocean tide loading parameters 设置潮汐参数*/
7、/* rover/reference fixed position 获取基准站坐标*/
#define PMODE_SINGLE 0 /* positioning mode: single */
#define PMODE_DGPS 1 /* positioning mode: DGPS/DGNSS */
#define PMODE_KINEMA 2 /* positioning mode: kinematic */
#define PMODE_STATIC 3 /* positioning mode: static */
#define PMODE_MOVEB 4 /* positioning mode: moving-base */
#define PMODE_FIXED 5 /* positioning mode: fixed */
#define PMODE_PPP_KINEMA 6 /* positioning mode: PPP-kinemaric */
#define PMODE_PPP_STATIC 7 /* positioning mode: PPP-static */
#define PMODE_PPP_FIXED 8 /* positioning mode: PPP-fixed */#define POSOPT_POS 0 /* pos option: LLH/XYZ */
#define POSOPT_SINGLE 1 /* pos option: average of single pos */
#define POSOPT_FILE 2 /* pos option: read from pos file */
#define POSOPT_RINEX 3 /* pos option: rinex header pos */
#define POSOPT_RTCM 4 /* pos option: rtcm station pos */
#define POSOPT_RAW 5 /* pos option: raw station pos */8、/* open solution statistics */输出统计信息：solution statistics level (0:off,1:states,2:residuals)
建立路径和保存文件名！
if (flag&&sopt->sstat>0) {strcpy(statfile,outfile);strcat(statfile,".stat");rtkclosestat();rtkopenstat(statfile,sopt->sstat);}* $POS,week,tow,stat,posx,posy,posz,posxf,posyf,poszf
* week/tow : gps week no/time of week (s)
* stat : solution status
* posx/posy/posz : position x/y/z ecef (m) float
* posxf/posyf/poszf : position x/y/z ecef (m) fixed
*
* $VELACC,week,tow,stat,vele,veln,velu,acce,accn,accu,velef,velnf,veluf,accef,accnf,accuf
* week/tow : gps week no/time of week (s)
* stat : solution status
* vele/veln/velu : velocity e/n/u (m/s) float
* acce/accn/accu : acceleration e/n/u (m/s^2) float
* velef/velnf/veluf : velocity e/n/u (m/s) fixed
* accef/accnf/accuf : acceleration e/n/u (m/s^2) fixed
*
* $CLK,week,tow,stat,clk1,clk2,clk3,clk4
* week/tow : gps week no/time of week (s)
* stat : solution status
* clk1 : receiver clock bias GPS (ns)
* clk2 : receiver clock bias GLO-GPS (ns)
* clk3 : receiver clock bias GAL-GPS (ns)
* clk4 : receiver clock bias BDS-GPS (ns)
*
* $ION,week,tow,stat,sat,az,el,ion,ion-fixed
* week/tow : gps week no/time of week (s)
* stat : solution status
* sat : satellite id
* az/el : azimuth/elevation angle(deg)
* ion : vertical ionospheric delay L1 (m) float
* ion-fixed: vertical ionospheric delay L1 (m) fixed
*
* $TROP,week,tow,stat,rcv,ztd,ztdf
* week/tow : gps week no/time of week (s)
* stat : solution status
* rcv : receiver (1:rover,2:base station)
* ztd : zenith total delay (m) float
* ztdf : zenith total delay (m) fixed
*
* $HWBIAS,week,tow,stat,frq,bias,biasf
* week/tow : gps week no/time of week (s)
* stat : solution status
* frq : frequency (1:L1,2:L2,...)
* bias : h/w bias coefficient (m/MHz) float
* biasf : h/w bias coefficient (m/MHz) fixed
*
* $SAT,week,tow,sat,frq,az,el,resp,resc,vsat,snr,fix,slip,lock,outc,slipc,rejc
* week/tow : gps week no/time of week (s)
* sat/frq : satellite id/frequency (1:L1,2:L2,...)
* az/el : azimuth/elevation angle (deg)
* resp : pseudorange residual (m)
* resc : carrier-phase residual (m)
* vsat : valid data flag (0:invalid,1:valid)
* snr : signal strength (dbHz)
* fix : ambiguity flag (0:no data,1:float,2:fixed,3:hold,4:ppp)
* slip : cycle-slip flag (bit1:slip,bit2:parity unknown)
* lock : carrier-lock count
* outc : data outage count
* slipc : cycle-slip count
* rejc : data reject (outlier) count
*
*-----------------------------------------------------------------------------*/
9、 /* write header to output file */
输出结果数据格式如下：
#define SOLF_LLH 0 /* solution format: lat/lon/height */
#define SOLF_XYZ 1 /* solution format: x/y/z-ecef */
#define SOLF_ENU 2 /* solution format: e/n/u-baseline */
#define SOLF_NMEA 3 /* solution format: NMEA-183 */
输出 结果文件头：
输出结果类型结构体：sol_t /* solution type */
typedef struct { /* solution type */gtime_t time; /* time (GPST) */double rr[6]; /* position/velocity (m|m/s) *//* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */float qr[6]; /* position variance/covariance (m^2) *//* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or *//* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */float qv[6]; /* velocity variance/covariance (m^2/s^2) */double dtr[6]; /* receiver clock bias to time systems (s) */unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */unsigned char stat; /* solution status (SOLQ_???) */unsigned char ns; /* number of valid satellites */float age; /* age of differential (s) */float ratio; /* AR ratio factor for valiation */float thres; /* AR ratio threshold for valiation */
} sol_t;RTK配置信息结构体：rtk_t; /* RTK control/result type */
typedef struct { /* RTK control/result type */sol_t sol; /* RTK solution */double rb[6]; /* base position/velocity (ecef) (m|m/s) */int nx,na; /* number of float states/fixed states */double tt; /* time difference between current and previous (s) */double *x, *P; /* float states and their covariance */double *xa,*Pa; /* fixed states and their covariance */int nfix; /* number of continuous fixes of ambiguity */ambc_t ambc[MAXSAT]; /* ambibuity control */ssat_t ssat[MAXSAT]; /* satellite status */int neb; /* bytes in error message buffer */char errbuf[MAXERRMSG]; /* error message buffer */prcopt_t opt; /* processing options */
} rtk_t;ambc_t /* ambiguity control type */
typedef struct { /* ambiguity control type */gtime_t epoch[4]; /* last epoch */int n[4]; /* number of epochs */double LC [4]; /* linear combination average */double LCv[4]; /* linear combination variance */int fixcnt; /* fix count */char flags[MAXSAT]; /* fix flags */
} ambc_t;卫星状态信息： ssat_t; /* satellite status type */
typedef struct { /* satellite status type */unsigned char sys; /* navigation system */unsigned char vs; /* valid satellite flag single */double azel[2]; /* azimuth/elevation angles {az,el} (rad) */double resp[NFREQ]; /* residuals of pseudorange (m) */double resc[NFREQ]; /* residuals of carrier-phase (m) */unsigned char vsat[NFREQ]; /* valid satellite flag */unsigned char snr [NFREQ]; /* signal strength (0.25 dBHz) */unsigned char fix [NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */unsigned char slip[NFREQ]; /* cycle-slip flag */unsigned char half[NFREQ]; /* half-cycle valid flag */int lock [NFREQ]; /* lock counter of phase */unsigned int outc [NFREQ]; /* obs outage counter of phase */unsigned int slipc[NFREQ]; /* cycle-slip counter */unsigned int rejc [NFREQ]; /* reject counter */double gf; /* geometry-free phase L1-L2 (m) */double gf2; /* geometry-free phase L1-L5 (m) */double mw; /* MW-LC (m) */double phw; /* phase windup (cycle) */gtime_t pt[2][NFREQ]; /* previous carrier-phase time */double ph[2][NFREQ]; /* previous carrier-phase observable (cycle) */
} ssat_t;11、单点定位&前向处理
if (popt_.mode==PMODE_SINGLE||popt_.soltype==0)
执行子函数：procpos
/* process positioning -------------------------------------------------------*/
static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,int mode)
procpos
rtkinit(&rtk,popt);
1、RTKINIT 初始化
/* initialize rtk control ------------------------------------------------------
* initialize rtk control struct
* args : rtk_t *rtk IO rtk control/result struct
* prcopt_t *opt I positioning options (see rtklib.h)
* return : none
*-----------------------------------------------------------------------------*/
extern void rtkinit(rtk_t *rtk, const prcopt_t *opt)
2、当前历元观测卫星多少、观测值；
/* input obs data, navigation messages and sbas correction -------------------*/
static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
循环执行：每一个历元、每一个历元进行:
while ((nobs=inputobs(obs,rtk.sol.stat,popt))>=0) {/* exclude satellites */for (i=n=0;i<nobs;i++) {if ((satsys(obs[i].sat,NULL)&popt->navsys)&&popt->exsats[obs[i].sat-1]!=1) obs[n++]=obs[i]; //去除配置中不参与的卫星的观测数据}if (n<=0) continue;/* carrier-phase bias correction */if (navs.nf>0) { //nf 为 number of satellite fcb data corr_phase_bias_fcb(obs,n,&navs);}else if (!strstr(popt->pppopt,"-DIS_FCB")) {corr_phase_bias_ssr(obs,n,&navs);}/* disable L2 */
#if 0if (popt->freqopt==1) {for (i=0;i<n;i++) obs[i].L[1]=obs[i].P[1]=0.0;}
#endifif (!rtkpos(&rtk,obs,n,&navs)) continue;if (mode==0) { /* forward/backward */if (!solstatic) {outsol(fp,&rtk.sol,rtk.rb,sopt);}else if (time.time==0||pri[rtk.sol.stat]<=pri[sol.stat]) {sol=rtk.sol;for (i=0;i<3;i++) rb[i]=rtk.rb[i];if (time.time==0||timediff(rtk.sol.time,time)<0.0) {time=rtk.sol.time;}}}else if (!revs) { /* combined-forward */if (isolf>=nepoch) return;solf[isolf]=rtk.sol;for (i=0;i<3;i++) rbf[i+isolf*3]=rtk.rb[i];isolf++;}else { /* combined-backward */if (isolb>=nepoch) return;solb[isolb]=rtk.sol;for (i=0;i<3;i++) rbb[i+isolb*3]=rtk.rb[i];isolb++;}}定位、测速程序：
2.1 rtkpos
extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
2.1.1 pntpos 单点定位
/* single-point positioning ----------------------------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
* with pseudorange and doppler observables
extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,char *msg)
2.1.1.1 satposs 计算卫星位置和钟差
/* satellite positions and clocks ----------------------------------------------
* compute satellite positions, velocities and clocks
extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,int ephopt, double *rs, double *dts, double *var,
int *svh)
2.1.1.1.1 ephclk 利用广播星历计算卫星钟差
/* satellite clock with broadcast ephemeris ----------------------------------*/
static int ephclk(gtime_t time, gtime_t teph, int sat, const nav_t *nav,double *dts)
调用子函数：
1、首先选择与当前历元观测量对应的卫星星历：
/* select ephememeris --------------------------------------------------------*/
static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
2、计算观测量对应卫星的钟差
/* broadcast ephemeris to satellite clock bias ---------------------------------
extern double eph2clk(gtime_t time, const eph_t *eph)
2.1.1.1.2 satpos /* satellite position and clock at transmission time */
/* satellite position and clock -----------------* compute satellite position, velocity and clock
extern int satpos(gtime_t time, gtime_t teph, int sat, int ephopt,const nav_t *nav, double *rs, double *dts, double *var,
int *svh)
注意：satpos中，根据系统对星历的配置，进行不同的卫星位置、速度求解！
#define EPHOPT_BRDC 0 /* ephemeris option: broadcast ephemeris */
#define EPHOPT_PREC 1 /* ephemeris option: precise ephemeris */
#define EPHOPT_SBAS 2 /* ephemeris option: broadcast + SBAS */
#define EPHOPT_SSRAPC 3 /* ephemeris option: broadcast + SSR_APC */
#define EPHOPT_SSRCOM 4 /* ephemeris option: broadcast + SSR_COM */
#define EPHOPT_LEX 5 /* ephemeris option: QZSS LEX ephemeris */switch (ephopt) {case EPHOPT_BRDC : return ephpos (time,teph,sat,nav,-1,rs,dts,var,svh);case EPHOPT_SBAS : return satpos_sbas(time,teph,sat,nav, rs,dts,var,svh);case EPHOPT_SSRAPC: return satpos_ssr (time,teph,sat,nav, 0,rs,dts,var,svh);case EPHOPT_SSRCOM: return satpos_ssr (time,teph,sat,nav, 1,rs,dts,var,svh);case EPHOPT_PREC :if (!peph2pos(time,sat,nav,1,rs,dts,var)) break; else return 1;case EPHOPT_LEX :if (!lexeph2pos(time,sat,nav,rs,dts,var)) break; else return 1;}调用子函数：
1、根据设置的星历类型，进行对应的卫星位置、钟差计算：
/* satellite position and clock by broadcast ephemeris -----------------------*/
static int ephpos(gtime_t time, gtime_t teph, int sat, const nav_t *nav,int iode, double *rs, double *dts, double *var, int *svh)
1.1 选择观测量对应的卫星星历：
/* select ephememeris --------------------------------------------------------*/
static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
2、计算卫星位置、速度、钟差
/* broadcast ephemeris to satellite position and clock bias --------------------
extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,double *var)
2.1.1.1 节对应的函数调用顺序如下：
2.1.1.2 estpos 利用伪距计算接收机位置
/* 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)
估计参数7个：3个位置、1个钟差、3个系统间钟差参数；
x[NX]={0},dx[NX],Q[NX*NX]
v=mat(n+4,1); H=mat(NX,n+4); var=mat(n+4,1);
下面进行循环迭代：求解接收机位置、速度；迭代终止条件为：(norm(dx,NX)<1E-4)
2.1.1.2.1 伪距残差
/* pseudorange residuals -----------------------------------------------------*/
static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, const prcopt_t *opt,
double *v, double *H, double *var, double *azel, int *vsat,
double *resp, int *ns)
调用如下子函数：
1、计算卫星-接收机之间几何距离：
主要去除地球自转影响！
/* geometric distance ----------------------------------------------------------
* compute geometric distance and receiver-to-satellite unit vector
extern double geodist(const double *rs, const double *rr, double *e)
2、对伪距进行码偏差改正: 单频点定位考虑TGD
/* psendorange with code bias correction -------------------------------------*/
static double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var)
3、剔除预先设置中不参与定位的卫星
/* test excluded satellite -----------------------------------------------------
extern int satexclude(int sat, int svh, const prcopt_t *opt)
4、电离层改正：
/* ionospheric correction ------------------------------------------------------
* compute ionospheric correction
extern int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,const double *azel, int ionoopt, double *ion, double *var)
调用子函数：广播星历中电离层α、β模型：
5、对流层改正：
/* tropospheric correction -----------------------------------------------------
* compute tropospheric correction
extern int tropcorr(gtime_t time, const nav_t *nav, const double *pos, const double *azel, int tropopt, double *trp, double *var)
调用子函数：compute tropospheric delay by standard atmosphere and saastamoinen model
6、伪距残差：
/* pseudorange residual */ //nv表示方程的个数
v[nv]=P-(r+dtr-CLIGHT*dts[i*2]+dion+dtrp);
7、设计/构造矩阵 H
/* design matrix */ //
for (j=0;j<NX;j++) H[j+nv*NX]=j<3?-e[j]:(j==3?1.0:0.0);
8、如果是多系统参与定位，需要估计系统间时间偏差
/* time system and receiver bias offset correction */
if (sys==SYS_GLO) {v[nv]-=x[4]; H[4+nv*NX]=1.0; mask[1]=1;}
else if (sys==SYS_GAL) {v[nv]-=x[5]; H[5+nv*NX]=1.0; mask[2]=1;}
else if (sys==SYS_CMP) {v[nv]-=x[6]; H[6+nv*NX]=1.0; mask[3]=1;}
else mask[0]=1;
其具体参数为：
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) */
9、伪距测量中各部分误差项中方差和
/* pseudorange measurement error variance ------------------------------------*/
static double varerr(const prcopt_t *opt, double el, int sys)
函数代码：
/* pseudorange measurement error variance ------------------------------------*/
static double varerr(const prcopt_t *opt, double el, int sys)
{double fact,varr;fact=sys==SYS_GLO?EFACT_GLO:(sys==SYS_SBS?EFACT_SBS:EFACT_GPS);varr=SQR(opt->err[0])*(SQR(opt->err[1])+SQR(opt->err[2])/sin(el));if (opt->ionoopt==IONOOPT_IFLC) varr*=SQR(3.0); /* iono-free */return SQR(fact)*varr;
}对应的项为：
结构体：prcopt_t
double err[5]; /* measurement error factor */
/* [0]:reserved */
/* [1-3]:error factor a/b/c of phase (m) */
/* [4]:doppler frequency (hz) */
默认参数配置为：{100.0,0.003,0.003,0.0,1.0}, /* err[] */
为了保持“卫星个数”大于参数个数(7个)，保持为超定方程：设置H矩阵及对应的方差，代码如下所示：
/* constraint to avoid rank-deficient */for (i=0;i<4;i++) {if (mask[i]) continue;v[nv]=0.0;for (j = 0; j < NX; j++){H[j + nv * NX] = j == i + 3 ? 1.0 : 0.0;printf("%f ", H[j + nv * NX]);if (j == NX - 1) printf("\n");}var[nv++]=0.01;//printf("%f ",H[j + nv * NX]);}某一个历元观测到卫星个数为5，故需要增加3个“伪卫星”，构成超定方程；代码运行如下：
2.1.1.2.2 对伪距残差进行定权，高度角定权：
/* weight by variance */printf("伪距误差标准差：\n");for (j=0;j<nv;j++) {sig=sqrt(var[j]);v[j]/=sig;printf("sig[%d]=%f%t ",j,sig);for (k=0;k<NX;k++) H[k+j*NX]/=sig;}2.1.1.2.3 加权最小二乘：
/* least square estimation 用最小二乘法，解Ax=b-----------------------------------------------------
* least square estimation by solving normal equation (x=(A*A')^-1*A*y)
* least square estimation by solving normal equation (x=(A*A')^-1*A*y)
* args : double *A I transpose of (weighted) design matrix (n x m)
* double *y I (weighted) measurements (m x 1)
* int n,m I number of parameters and measurements (n<=m) m为方程个数，测量个数
* double *x O estmated parameters (n x 1)
* double *Q O esimated parameters covariance matrix (n x n)
* return : status (0:ok,0>:error)
* notes : for weighted least square, replace A and y by A*w and w*y (w=W^(1/2))
* matirix stored by column-major order (fortran convention)
*-----------------------------------------------------------------------------*/
extern int lsq(const double *A, const double *y, int n, int m, double *x,double *Q)
2.1.1.2.4 保存结果：接收机位置、钟差、方差、协方差、参与定位卫星个数：
if (norm(dx,NX)<1E-4) {sol->type=0;sol->time=timeadd(obs[0].time,-x[3]/CLIGHT); //求解位置的时刻为：扣除接收机钟差影响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) */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=(unsigned char)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;}同时还包括：有效性判断：
1、chisqr
2、最大DOP值
/* validate solution ---------------------------------------------------------*/
static int valsol(const double *azel, const int *vsat, int n,
const prcopt_t *opt, const double *v, int nv, int nx,
char *msg)
2.1.1.2 estpos 对应的函数调用层级如下：
2.1.1.3 raim_fde 有效性判断：
进入raim_fde前进行的判断：
/* raim fde */
if (!stat&&n>=6&&opt->posopt[4]) { stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);}
1、参与定位卫星个数6个及以上；
2、opt->posopt[4] 为 1 ？表示啥意思？
/* raim fde (failure detection and exclution) -------------------------------*/
static int raim_fde(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)
2.1.1.4 estvel 计算接收机速度：
/* estimate receiver velocity ------------------------------------------------*/
static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
const double *azel, const int *vsat)
调用子函数：
1、多普勒残差：
/* doppler residuals ---------------------------------------------------------*/
static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,const nav_t *nav, const double *rr, const double *x,
const double *azel, const int *vsat, double *v, double *H)
2、最小二乘计算速度：
2.1.1.4 ssat 保存相关信息：
ssat_t ssat;
typedef struct { /* satellite status type */unsigned char sys; /* navigation system */unsigned char vs; /* valid satellite flag single */double azel[2]; /* azimuth/elevation angles {az,el} (rad) */double resp[NFREQ]; /* residuals of pseudorange (m) */double resc[NFREQ]; /* residuals of carrier-phase (m) */unsigned char vsat[NFREQ]; /* valid satellite flag */unsigned char snr [NFREQ]; /* signal strength (0.25 dBHz) */unsigned char fix [NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */unsigned char slip[NFREQ]; /* cycle-slip flag */unsigned char half[NFREQ]; /* half-cycle valid flag */int lock [NFREQ]; /* lock counter of phase */unsigned int outc [NFREQ]; /* obs outage counter of phase */unsigned int slipc[NFREQ]; /* cycle-slip counter */unsigned int rejc [NFREQ]; /* reject counter */double gf; /* geometry-free phase L1-L2 (m) */double gf2; /* geometry-free phase L1-L5 (m) */double mw; /* MW-LC (m) */double phw; /* phase windup (cycle) */gtime_t pt[2][NFREQ]; /* previous carrier-phase time */double ph[2][NFREQ]; /* previous carrier-phase observable (cycle) */
} ssat_t;2.1.2 outsolstat
/* output solution status ----------------------------------------------------*/
static void outsolstat(rtk_t *rtk)
调用子函数：
2.1.2.1 rtkoutstat
/* write solution status to buffer -------------------------------------------*/
extern int rtkoutstat(rtk_t *rtk, char *buff)
保存的为如下信息到文件：myposbyVS.pos.stat
/* write ppp solution status to buffer */if (rtk->opt.mode>=PMODE_PPP_KINEMA) {return pppoutstat(rtk,buff);}est=rtk->opt.mode>=PMODE_DGPS;nfreq=est?nf:1;tow=time2gpst(rtk->sol.time,&week);/* receiver position */if (est) {for (i=0;i<3;i++) xa[i]=i<rtk->na?rtk->xa[i]:0.0;p+=sprintf(p,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,rtk->sol.stat,rtk->x[0],rtk->x[1],rtk->x[2],xa[0],xa[1],xa[2]);}else {p+=sprintf(p,"$POS,%d,%.3f,%d,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f\n",week,tow,rtk->sol.stat,rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2],0.0,0.0,0.0);}/* receiver velocity and acceleration */if (est&&rtk->opt.dynamics) {ecef2pos(rtk->sol.rr,pos);ecef2enu(pos,rtk->x+3,vel);ecef2enu(pos,rtk->x+6,acc);if (rtk->na>=6) ecef2enu(pos,rtk->xa+3,vela);if (rtk->na>=9) ecef2enu(pos,rtk->xa+6,acca);p+=sprintf(p,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],acc[0],acc[1],acc[2],vela[0],vela[1],vela[2],acca[0],acca[1],acca[2]);}else {ecef2pos(rtk->sol.rr,pos);ecef2enu(pos,rtk->sol.rr+3,vel);p+=sprintf(p,"$VELACC,%d,%.3f,%d,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f,%.4f,%.4f,%.4f,%.5f,%.5f,%.5f\n",week,tow,rtk->sol.stat,vel[0],vel[1],vel[2],0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);}/* receiver clocks */p+=sprintf(p,"$CLK,%d,%.3f,%d,%d,%.3f,%.3f,%.3f,%.3f\n",week,tow,rtk->sol.stat,1,rtk->sol.dtr[0]*1E9,rtk->sol.dtr[1]*1E9,rtk->sol.dtr[2]*1E9,rtk->sol.dtr[3]*1E9);/* ionospheric parameters */if (est&&rtk->opt.ionoopt==IONOOPT_EST) {for (i=0;i<MAXSAT;i++) {ssat=rtk->ssat+i;if (!ssat->vs) continue;satno2id(i+1,id);j=II(i+1,&rtk->opt);xa[0]=j<rtk->na?rtk->xa[j]:0.0;p+=sprintf(p,"$ION,%d,%.3f,%d,%s,%.1f,%.1f,%.4f,%.4f\n",week,tow,rtk->sol.stat,id,ssat->azel[0]*R2D,ssat->azel[1]*R2D,rtk->x[j],xa[0]);}}/* tropospheric parameters */if (est&&(rtk->opt.tropopt==TROPOPT_EST||rtk->opt.tropopt==TROPOPT_ESTG)) {for (i=0;i<2;i++) {j=IT(i,&rtk->opt);xa[0]=j<rtk->na?rtk->xa[j]:0.0;p+=sprintf(p,"$TROP,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,i+1,rtk->x[j],xa[0]);}}/* receiver h/w bias */if (est&&rtk->opt.glomodear==2) {for (i=0;i<nfreq;i++) {j=IL(i,&rtk->opt);xa[0]=j<rtk->na?rtk->xa[j]:0.0;p+=sprintf(p,"$HWBIAS,%d,%.3f,%d,%d,%.4f,%.4f\n",week,tow,rtk->sol.stat,i+1,rtk->x[j],xa[0]);}}2.2 outsol
/* output solution body --------------------------------------------------------
* output solution body to file
* args : FILE *fp I output file pointer
* sol_t *sol I solution
* double *rb I base station position {x,y,z} (ecef) (m)
* solopt_t *opt I solution options
* return : none
*-----------------------------------------------------------------------------*/
extern void outsol(FILE *fp, const sol_t *sol, const double *rb, const solopt_t *opt)
调用子函数：
2.2.1 outsols
/* output solution body --------------------------------------------------------
* output solution body to buffer
* args : unsigned char *buff IO output buffer
* sol_t *sol I solution
* double *rb I base station position {x,y,z} (ecef) (m)
* solopt_t *opt I solution options
* return : number of output bytes
*-----------------------------------------------------------------------------*/
extern int outsols(unsigned char *buff, const sol_t *sol, const double *rb,const solopt_t *opt)
2.2.1.1 outpos
判断语句：根据设置的输出位置形式，进行选择：
switch (opt->posf) {case SOLF_LLH: p+=outpos (p,s,sol,opt); break;case SOLF_XYZ: p+=outecef(p,s,sol,opt); break;case SOLF_ENU: p+=outenu(p,s,sol,rb,opt); break;case SOLF_NMEA: p+=outnmea_rmc(p,sol);p+=outnmea_gga(p,sol); break;}/* output solution as the form of lat/lon/height -----------------------------*/
static int outpos(unsigned char *buff, const char *s, const sol_t *sol,const solopt_t *opt)
2.2节函数调用层级，如下：
GPS伪距单频/L1 单点定位整个过程包括：
- 1、读取移动站观测数据、导航数据；将整个文件的相关数据放入结构体中；进行排序和重复数据删除；
- 2、进行单点定位，测速；保存数据.pos、.pos.trace、.pos.stat文件；
- 3、最终freeobsnav(&obss,&navs);
参考：
RTKLIB 源码阅读笔记
RTKLIB源码解析（一）——单点定位(pntpos.c)
RTKLIB-MANUAL（手册）
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