-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathrtkcmn.c
3889 lines (3618 loc) · 153 KB
/
rtkcmn.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*------------------------------------------------------------------------------
* rtkcmn.c : rtklib common functions
*
* Copyright (C) 2007-2016 by T.TAKASU, All rights reserved.
*
* options : -DLAPACK use LAPACK/BLAS
* -DMKL use Intel MKL
* -DTRACE enable debug trace
* -DWIN32 use WIN32 API
* -DNOCALLOC no use calloc for zero matrix
* -DIERS_MODEL use GMF instead of NMF
* -DDLL built for shared library
* -DCPUTIME_IN_GPST cputime operated in gpst
*
* references :
* [1] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [3] M.Rothacher, R.Schmid, ANTEX: The Antenna Exchange Format Version 1.4,
* 15 September, 2010
* [4] A.Gelb ed., Applied Optimal Estimation, The M.I.T Press, 1974
* [5] A.E.Niell, Global mapping functions for the atmosphere delay at radio
* wavelengths, Jounal of geophysical research, 1996
* [6] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [7] J.Kouba, A Guide to using International GNSS Service (IGS) products,
* May 2009
* [8] China Satellite Navigation Office, BeiDou navigation satellite system
* signal in space interface control document, open service signal B1I
* (version 1.0), Dec 2012
* [9] J.Boehm, A.Niell, P.Tregoning and H.Shuh, Global Mapping Function
* (GMF): A new empirical mapping function base on numerical weather
* model data, Geophysical Research Letters, 33, L07304, 2006
* [10] GLONASS/GPS/Galileo/Compass/SBAS NV08C receiver series BINR interface
* protocol specification ver.1.3, August, 2012
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/01/12 1.0 new
* 2007/03/06 1.1 input initial rover pos of pntpos()
* update only effective states of filter()
* fix bug of atan2() domain error
* 2007/04/11 1.2 add function antmodel()
* add gdop mask for pntpos()
* change constant MAXDTOE value
* 2007/05/25 1.3 add function execcmd(),expandpath()
* 2008/06/21 1.4 add funciton sortobs(),uniqeph(),screent()
* replace geodist() by sagnac correction way
* 2008/10/29 1.5 fix bug of ionosphereic mapping function
* fix bug of seasonal variation term of tropmapf
* 2008/12/27 1.6 add function tickget(), sleepms(), tracenav(),
* xyz2enu(), satposv(), pntvel(), covecef()
* 2009/03/12 1.7 fix bug on error-stop when localtime() returns NULL
* 2009/03/13 1.8 fix bug on time adjustment for summer time
* 2009/04/10 1.9 add function adjgpsweek(),getbits(),getbitu()
* add function geph2pos()
* 2009/06/08 1.10 add function seph2pos()
* 2009/11/28 1.11 change function pntpos()
* add function tracegnav(),tracepeph()
* 2009/12/22 1.12 change default parameter of ionos std
* valid under second for timeget()
* 2010/07/28 1.13 fix bug in tropmapf()
* added api:
* obs2code(),code2obs(),cross3(),normv3(),
* gst2time(),time2gst(),time_str(),timeset(),
* deg2dms(),dms2deg(),searchpcv(),antmodel_s(),
* tracehnav(),tracepclk(),reppath(),reppaths(),
* createdir()
* changed api:
* readpcv(),
* deleted api:
* uniqeph()
* 2010/08/20 1.14 omit to include mkl header files
* fix bug on chi-sqr(n) table
* 2010/12/11 1.15 added api:
* freeobs(),freenav(),ionppp()
* 2011/05/28 1.16 fix bug on half-hour offset by time2epoch()
* added api:
* uniqnav()
* 2012/06/09 1.17 add a leap second after 2012-6-30
* 2012/07/15 1.18 add api setbits(),setbitu(),utc2gmst()
* fix bug on interpolation of antenna pcv
* fix bug on str2num() for string with over 256 char
* add api readblq(),satexclude(),setcodepri(),
* getcodepri()
* change api obs2code(),code2obs(),antmodel()
* 2012/12/25 1.19 fix bug on satwavelen(),code2obs(),obs2code()
* add api testsnr()
* 2013/01/04 1.20 add api gpst2bdt(),bdt2gpst(),bdt2time(),time2bdt()
* readblq(),readerp(),geterp(),crc16()
* change api eci2ecef(),sunmoonpos()
* 2013/03/26 1.21 tickget() uses clock_gettime() for linux
* 2013/05/08 1.22 fix bug on nutation coefficients for ast_args()
* 2013/06/02 1.23 add #ifdef for undefined CLOCK_MONOTONIC_RAW
* 2013/09/01 1.24 fix bug on interpolation of satellite antenna pcv
* 2013/09/06 1.25 fix bug on extrapolation of erp
* 2014/04/27 1.26 add SYS_LEO for satellite system
* add BDS L1 code for RINEX 3.02 and RTCM 3.2
* support BDS L1 in satwavelen()
* 2014/05/29 1.27 fix bug on obs2code() to search obs code table
* 2014/08/26 1.28 fix problem on output of uncompress() for tar file
* add function to swap trace file with keywords
* 2014/10/21 1.29 strtok() -> strtok_r() in expath() for thread-safe
* add bdsmodear in procopt_default
* 2015/03/19 1.30 fix bug on interpolation of erp values in geterp()
* add leap second insertion before 2015/07/01 00:00
* add api read_leaps()
* 2015/05/31 1.31 delte api windupcorr()
* 2015/08/08 1.32 add compile option CPUTIME_IN_GPST
* add api add_fatal()
* support usno leapsec.dat for api read_leaps()
* 2016/01/23 1.33 enable septentrio
* 2016/02/05 1.34 support GLONASS for savenav(), loadnav()
* 2016/06/11 1.35 delete trace() in reppath() to avoid deadlock
* 2016/07/01 1.36 support IRNSS
* add leap second before 2017/1/1 00:00:00
* 2016/07/29 1.37 rename api compress() -> rtk_uncompress()
* rename api crc16() -> rtk_crc16()
* rename api crc24q() -> rtk_crc24q()
* rename api crc32() -> rtk_crc32()
* 2016/08/20 1.38 fix type incompatibility in win64 environment
* change constant _POSIX_C_SOURCE 199309 -> 199506
* 2016/08/21 1.39 fix bug on week overflow in time2gpst()/gpst2time()
* 2016/09/05 1.40 fix bug on invalid nav data read in readnav()
* 2016/09/17 1.41 suppress warnings
* 2016/09/19 1.42 modify api deg2dms() to consider numerical error
* 2017/04/11 1.43 delete EXPORT for global variables
*-----------------------------------------------------------------------------*/
#define _POSIX_C_SOURCE 199506
#include <stdarg.h>
#include <ctype.h>
#ifndef WIN32
#include <dirent.h>
#include <time.h>
#include <sys/time.h>
#include <sys/stat.h>
#include <sys/types.h>
#endif
#include "rtklib.h"
/* constants -----------------------------------------------------------------*/
#define POLYCRC32 0xEDB88320u /* CRC32 polynomial */
#define POLYCRC24Q 0x1864CFBu /* CRC24Q polynomial */
static const double gpst0[]={1980,1, 6,0,0,0}; /* gps time reference */
static const double gst0 []={1999,8,22,0,0,0}; /* galileo system time reference */
static const double bdt0 []={2006,1, 1,0,0,0}; /* beidou time reference */
static double leaps[MAXLEAPS+1][7]={ /* leap seconds (y,m,d,h,m,s,utc-gpst) */
{2017,1,1,0,0,0,-18},
{2015,7,1,0,0,0,-17},
{2012,7,1,0,0,0,-16},
{2009,1,1,0,0,0,-15},
{2006,1,1,0,0,0,-14},
{1999,1,1,0,0,0,-13},
{1997,7,1,0,0,0,-12},
{1996,1,1,0,0,0,-11},
{1994,7,1,0,0,0,-10},
{1993,7,1,0,0,0, -9},
{1992,7,1,0,0,0, -8},
{1991,1,1,0,0,0, -7},
{1990,1,1,0,0,0, -6},
{1988,1,1,0,0,0, -5},
{1985,7,1,0,0,0, -4},
{1983,7,1,0,0,0, -3},
{1982,7,1,0,0,0, -2},
{1981,7,1,0,0,0, -1},
{0}
};
const double chisqr[100]={ /* chi-sqr(n) (alpha=0.001) */
10.8,13.8,16.3,18.5,20.5,22.5,24.3,26.1,27.9,29.6,
31.3,32.9,34.5,36.1,37.7,39.3,40.8,42.3,43.8,45.3,
46.8,48.3,49.7,51.2,52.6,54.1,55.5,56.9,58.3,59.7,
61.1,62.5,63.9,65.2,66.6,68.0,69.3,70.7,72.1,73.4,
74.7,76.0,77.3,78.6,80.0,81.3,82.6,84.0,85.4,86.7,
88.0,89.3,90.6,91.9,93.3,94.7,96.0,97.4,98.7,100 ,
101 ,102 ,103 ,104 ,105 ,107 ,108 ,109 ,110 ,112 ,
113 ,114 ,115 ,116 ,118 ,119 ,120 ,122 ,123 ,125 ,
126 ,127 ,128 ,129 ,131 ,132 ,133 ,134 ,135 ,137 ,
138 ,139 ,140 ,142 ,143 ,144 ,145 ,147 ,148 ,149
};
const double lam_carr[MAXFREQ]={ /* carrier wave length (m) */
CLIGHT/FREQ1,CLIGHT/FREQ2,CLIGHT/FREQ5,CLIGHT/FREQ6,CLIGHT/FREQ7,
CLIGHT/FREQ8,CLIGHT/FREQ9
};
const prcopt_t prcopt_default={ /* defaults processing options */
PMODE_SINGLE,0,2,SYS_GPS, /* mode,soltype,nf,navsys */
15.0*D2R,{{0,0}}, /* elmin,snrmask */
0,1,1,1, /* sateph,modear,glomodear,bdsmodear */
5,0,10,1, /* maxout,minlock,minfix,armaxiter */
0,0,0,0, /* estion,esttrop,dynamics,tidecorr */
1,0,0,0,0, /* niter,codesmooth,intpref,sbascorr,sbassatsel */
0,0, /* rovpos,refpos */
{100.0,100.0}, /* eratio[] */
{100.0,0.003,0.003,0.0,1.0}, /* err[] */
{30.0,0.03,0.3}, /* std[] */
{1E-4,1E-3,1E-4,1E-1,1E-2,0.0}, /* prn[] */
5E-12, /* sclkstab */
{3.0,0.9999,0.25,0.1,0.05}, /* thresar */
0.0,0.0,0.05, /* elmaskar,almaskhold,thresslip */
30.0,30.0,30.0, /* maxtdif,maxinno,maxgdop */
{0},{0},{0}, /* baseline,ru,rb */
{"",""}, /* anttype */
{{0}},{{0}},{0} /* antdel,pcv,exsats */
};
const solopt_t solopt_default={ /* defaults solution output options */
SOLF_LLH,TIMES_GPST,1,3, /* posf,times,timef,timeu */
0,1,0,0,0,0,0, /* degf,outhead,outopt,outvel,datum,height,geoid */
0,0,0, /* solstatic,sstat,trace */
{0.0,0.0}, /* nmeaintv */
" ","" /* separator/program name */
};
const char *formatstrs[32]={ /* stream format strings */
"RTCM 2", /* 0 */
"RTCM 3", /* 1 */
"NovAtel OEM6", /* 2 */
"NovAtel OEM3", /* 3 */
"u-blox", /* 4 */
"Superstar II", /* 5 */
"Hemisphere", /* 6 */
"SkyTraq", /* 7 */
"GW10", /* 8 */
"Javad", /* 9 */
"NVS BINR", /* 10 */
"BINEX", /* 11 */
"Trimble RT17", /* 12 */
"Septentrio", /* 13 */
"CMR/CMR+", /* 14 */
"TERSUS", /* 15 */
"LEX Receiver", /* 16 */
"RINEX", /* 17 */
"SP3", /* 18 */
"RINEX CLK", /* 19 */
"SBAS", /* 20 */
"NMEA 0183", /* 21 */
NULL
};
static char *obscodes[]={ /* observation code strings */
"" ,"1C","1P","1W","1Y", "1M","1N","1S","1L","1E", /* 0- 9 */
"1A","1B","1X","1Z","2C", "2D","2S","2L","2X","2P", /* 10-19 */
"2W","2Y","2M","2N","5I", "5Q","5X","7I","7Q","7X", /* 20-29 */
"6A","6B","6C","6X","6Z", "6S","6L","8L","8Q","8X", /* 30-39 */
"2I","2Q","6I","6Q","3I", "3Q","3X","1I","1Q","5A", /* 40-49 */
"5B","5C","9A","9B","9C", "9X","" ,"" ,"" ,"" /* 50-59 */
};
static unsigned char obsfreqs[]={
/* 1:L1/E1, 2:L2/B1, 3:L5/E5a/L3, 4:L6/LEX/B3, 5:E5b/B2, 6:E5(a+b), 7:S */
0, 1, 1, 1, 1, 1, 1, 1, 1, 1, /* 0- 9 */
1, 1, 1, 1, 2, 2, 2, 2, 2, 2, /* 10-19 */
2, 2, 2, 2, 3, 3, 3, 5, 5, 5, /* 20-29 */
4, 4, 4, 4, 4, 4, 4, 6, 6, 6, /* 30-39 */
2, 2, 4, 4, 3, 3, 3, 1, 1, 3, /* 40-49 */
3, 3, 7, 7, 7, 7, 0, 0, 0, 0 /* 50-59 */
};
static char codepris[7][MAXFREQ][16]={ /* code priority table */
/* L1/E1 L2/B1 L5/E5a/L3 L6/LEX/B3 E5b/B2 E5(a+b) S */
{"CPYWMNSL","PYWCMNDSLX","IQX" ,"" ,"" ,"" ,"" }, /* GPS */
{"PC" ,"PC" ,"IQX" ,"" ,"" ,"" ,"" }, /* GLO */
{"CABXZ" ,"" ,"IQX" ,"ABCXZ" ,"IQX" ,"IQX" ,"" }, /* GAL */
{"CSLXZ" ,"SLX" ,"IQX" ,"SLX" ,"" ,"" ,"" }, /* QZS */
{"C" ,"" ,"IQX" ,"" ,"" ,"" ,"" }, /* SBS */
{"IQX" ,"IQX" ,"IQX" ,"IQX" ,"IQX" ,"" ,"" }, /* BDS */
{"" ,"" ,"ABCX" ,"" ,"" ,"" ,"ABCX"} /* IRN */
};
static fatalfunc_t *fatalfunc=NULL; /* fatal callback function */
/* crc tables generated by util/gencrc ---------------------------------------*/
static const unsigned short tbl_CRC16[]={
0x0000,0x1021,0x2042,0x3063,0x4084,0x50A5,0x60C6,0x70E7,
0x8108,0x9129,0xA14A,0xB16B,0xC18C,0xD1AD,0xE1CE,0xF1EF,
0x1231,0x0210,0x3273,0x2252,0x52B5,0x4294,0x72F7,0x62D6,
0x9339,0x8318,0xB37B,0xA35A,0xD3BD,0xC39C,0xF3FF,0xE3DE,
0x2462,0x3443,0x0420,0x1401,0x64E6,0x74C7,0x44A4,0x5485,
0xA56A,0xB54B,0x8528,0x9509,0xE5EE,0xF5CF,0xC5AC,0xD58D,
0x3653,0x2672,0x1611,0x0630,0x76D7,0x66F6,0x5695,0x46B4,
0xB75B,0xA77A,0x9719,0x8738,0xF7DF,0xE7FE,0xD79D,0xC7BC,
0x48C4,0x58E5,0x6886,0x78A7,0x0840,0x1861,0x2802,0x3823,
0xC9CC,0xD9ED,0xE98E,0xF9AF,0x8948,0x9969,0xA90A,0xB92B,
0x5AF5,0x4AD4,0x7AB7,0x6A96,0x1A71,0x0A50,0x3A33,0x2A12,
0xDBFD,0xCBDC,0xFBBF,0xEB9E,0x9B79,0x8B58,0xBB3B,0xAB1A,
0x6CA6,0x7C87,0x4CE4,0x5CC5,0x2C22,0x3C03,0x0C60,0x1C41,
0xEDAE,0xFD8F,0xCDEC,0xDDCD,0xAD2A,0xBD0B,0x8D68,0x9D49,
0x7E97,0x6EB6,0x5ED5,0x4EF4,0x3E13,0x2E32,0x1E51,0x0E70,
0xFF9F,0xEFBE,0xDFDD,0xCFFC,0xBF1B,0xAF3A,0x9F59,0x8F78,
0x9188,0x81A9,0xB1CA,0xA1EB,0xD10C,0xC12D,0xF14E,0xE16F,
0x1080,0x00A1,0x30C2,0x20E3,0x5004,0x4025,0x7046,0x6067,
0x83B9,0x9398,0xA3FB,0xB3DA,0xC33D,0xD31C,0xE37F,0xF35E,
0x02B1,0x1290,0x22F3,0x32D2,0x4235,0x5214,0x6277,0x7256,
0xB5EA,0xA5CB,0x95A8,0x8589,0xF56E,0xE54F,0xD52C,0xC50D,
0x34E2,0x24C3,0x14A0,0x0481,0x7466,0x6447,0x5424,0x4405,
0xA7DB,0xB7FA,0x8799,0x97B8,0xE75F,0xF77E,0xC71D,0xD73C,
0x26D3,0x36F2,0x0691,0x16B0,0x6657,0x7676,0x4615,0x5634,
0xD94C,0xC96D,0xF90E,0xE92F,0x99C8,0x89E9,0xB98A,0xA9AB,
0x5844,0x4865,0x7806,0x6827,0x18C0,0x08E1,0x3882,0x28A3,
0xCB7D,0xDB5C,0xEB3F,0xFB1E,0x8BF9,0x9BD8,0xABBB,0xBB9A,
0x4A75,0x5A54,0x6A37,0x7A16,0x0AF1,0x1AD0,0x2AB3,0x3A92,
0xFD2E,0xED0F,0xDD6C,0xCD4D,0xBDAA,0xAD8B,0x9DE8,0x8DC9,
0x7C26,0x6C07,0x5C64,0x4C45,0x3CA2,0x2C83,0x1CE0,0x0CC1,
0xEF1F,0xFF3E,0xCF5D,0xDF7C,0xAF9B,0xBFBA,0x8FD9,0x9FF8,
0x6E17,0x7E36,0x4E55,0x5E74,0x2E93,0x3EB2,0x0ED1,0x1EF0
};
static const unsigned int tbl_CRC24Q[]={
0x000000,0x864CFB,0x8AD50D,0x0C99F6,0x93E6E1,0x15AA1A,0x1933EC,0x9F7F17,
0xA18139,0x27CDC2,0x2B5434,0xAD18CF,0x3267D8,0xB42B23,0xB8B2D5,0x3EFE2E,
0xC54E89,0x430272,0x4F9B84,0xC9D77F,0x56A868,0xD0E493,0xDC7D65,0x5A319E,
0x64CFB0,0xE2834B,0xEE1ABD,0x685646,0xF72951,0x7165AA,0x7DFC5C,0xFBB0A7,
0x0CD1E9,0x8A9D12,0x8604E4,0x00481F,0x9F3708,0x197BF3,0x15E205,0x93AEFE,
0xAD50D0,0x2B1C2B,0x2785DD,0xA1C926,0x3EB631,0xB8FACA,0xB4633C,0x322FC7,
0xC99F60,0x4FD39B,0x434A6D,0xC50696,0x5A7981,0xDC357A,0xD0AC8C,0x56E077,
0x681E59,0xEE52A2,0xE2CB54,0x6487AF,0xFBF8B8,0x7DB443,0x712DB5,0xF7614E,
0x19A3D2,0x9FEF29,0x9376DF,0x153A24,0x8A4533,0x0C09C8,0x00903E,0x86DCC5,
0xB822EB,0x3E6E10,0x32F7E6,0xB4BB1D,0x2BC40A,0xAD88F1,0xA11107,0x275DFC,
0xDCED5B,0x5AA1A0,0x563856,0xD074AD,0x4F0BBA,0xC94741,0xC5DEB7,0x43924C,
0x7D6C62,0xFB2099,0xF7B96F,0x71F594,0xEE8A83,0x68C678,0x645F8E,0xE21375,
0x15723B,0x933EC0,0x9FA736,0x19EBCD,0x8694DA,0x00D821,0x0C41D7,0x8A0D2C,
0xB4F302,0x32BFF9,0x3E260F,0xB86AF4,0x2715E3,0xA15918,0xADC0EE,0x2B8C15,
0xD03CB2,0x567049,0x5AE9BF,0xDCA544,0x43DA53,0xC596A8,0xC90F5E,0x4F43A5,
0x71BD8B,0xF7F170,0xFB6886,0x7D247D,0xE25B6A,0x641791,0x688E67,0xEEC29C,
0x3347A4,0xB50B5F,0xB992A9,0x3FDE52,0xA0A145,0x26EDBE,0x2A7448,0xAC38B3,
0x92C69D,0x148A66,0x181390,0x9E5F6B,0x01207C,0x876C87,0x8BF571,0x0DB98A,
0xF6092D,0x7045D6,0x7CDC20,0xFA90DB,0x65EFCC,0xE3A337,0xEF3AC1,0x69763A,
0x578814,0xD1C4EF,0xDD5D19,0x5B11E2,0xC46EF5,0x42220E,0x4EBBF8,0xC8F703,
0x3F964D,0xB9DAB6,0xB54340,0x330FBB,0xAC70AC,0x2A3C57,0x26A5A1,0xA0E95A,
0x9E1774,0x185B8F,0x14C279,0x928E82,0x0DF195,0x8BBD6E,0x872498,0x016863,
0xFAD8C4,0x7C943F,0x700DC9,0xF64132,0x693E25,0xEF72DE,0xE3EB28,0x65A7D3,
0x5B59FD,0xDD1506,0xD18CF0,0x57C00B,0xC8BF1C,0x4EF3E7,0x426A11,0xC426EA,
0x2AE476,0xACA88D,0xA0317B,0x267D80,0xB90297,0x3F4E6C,0x33D79A,0xB59B61,
0x8B654F,0x0D29B4,0x01B042,0x87FCB9,0x1883AE,0x9ECF55,0x9256A3,0x141A58,
0xEFAAFF,0x69E604,0x657FF2,0xE33309,0x7C4C1E,0xFA00E5,0xF69913,0x70D5E8,
0x4E2BC6,0xC8673D,0xC4FECB,0x42B230,0xDDCD27,0x5B81DC,0x57182A,0xD154D1,
0x26359F,0xA07964,0xACE092,0x2AAC69,0xB5D37E,0x339F85,0x3F0673,0xB94A88,
0x87B4A6,0x01F85D,0x0D61AB,0x8B2D50,0x145247,0x921EBC,0x9E874A,0x18CBB1,
0xE37B16,0x6537ED,0x69AE1B,0xEFE2E0,0x709DF7,0xF6D10C,0xFA48FA,0x7C0401,
0x42FA2F,0xC4B6D4,0xC82F22,0x4E63D9,0xD11CCE,0x575035,0x5BC9C3,0xDD8538
};
/* function prototypes -------------------------------------------------------*/
#ifdef MKL
#define LAPACK
#define dgemm_ dgemm
#define dgetrf_ dgetrf
#define dgetri_ dgetri
#define dgetrs_ dgetrs
#endif
#ifdef LAPACK
extern void dgemm_(char *, char *, int *, int *, int *, double *, double *,
int *, double *, int *, double *, double *, int *);
extern void dgetrf_(int *, int *, double *, int *, int *, int *);
extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *,
int *, int *);
#endif
#ifdef IERS_MODEL
extern int gmf_(double *mjd, double *lat, double *lon, double *hgt, double *zd,
double *gmfh, double *gmfw);
#endif
/* fatal error ---------------------------------------------------------------*/
static void fatalerr(const char *format, ...)
{
char msg[1024];
va_list ap;
va_start(ap,format); vsprintf(msg,format,ap); va_end(ap);
if (fatalfunc) fatalfunc(msg);
else fprintf(stderr,"%s",msg);
exit(-9);
}
/* add fatal callback function -------------------------------------------------
* add fatal callback function for mat(),zeros(),imat()
* args : fatalfunc_t *func I callback function
* return : none
* notes : if malloc() failed in return : none
*-----------------------------------------------------------------------------*/
extern void add_fatal(fatalfunc_t *func)
{
fatalfunc=func;
}
/* satellite system+prn/slot number to satellite number ------------------------
* convert satellite system+prn/slot number to satellite number
* args : int sys I satellite system (SYS_GPS,SYS_GLO,...)
* int prn I satellite prn/slot number
* return : satellite number (0:error)
*-----------------------------------------------------------------------------*/
extern int satno(int sys, int prn)
{
if (prn<=0) return 0;
switch (sys) {
case SYS_GPS:
if (prn<MINPRNGPS||MAXPRNGPS<prn) return 0;
return prn-MINPRNGPS+1;
case SYS_GLO:
if (prn<MINPRNGLO||MAXPRNGLO<prn) return 0;
return NSATGPS+prn-MINPRNGLO+1;
case SYS_GAL:
if (prn<MINPRNGAL||MAXPRNGAL<prn) return 0;
return NSATGPS+NSATGLO+prn-MINPRNGAL+1;
case SYS_QZS:
if (prn<MINPRNQZS||MAXPRNQZS<prn) return 0;
return NSATGPS+NSATGLO+NSATGAL+prn-MINPRNQZS+1;
case SYS_CMP:
if (prn<MINPRNCMP||MAXPRNCMP<prn) return 0;
return NSATGPS+NSATGLO+NSATGAL+NSATQZS+prn-MINPRNCMP+1;
case SYS_IRN:
if (prn<MINPRNIRN||MAXPRNIRN<prn) return 0;
return NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+prn-MINPRNIRN+1;
case SYS_LEO:
if (prn<MINPRNLEO||MAXPRNLEO<prn) return 0;
return NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATIRN+
prn-MINPRNLEO+1;
case SYS_SBS:
if (prn<MINPRNSBS||MAXPRNSBS<prn) return 0;
return NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATIRN+NSATLEO+
prn-MINPRNSBS+1;
}
return 0;
}
/* satellite number to satellite system ----------------------------------------
* convert satellite number to satellite system
* args : int sat I satellite number (1-MAXSAT)
* int *prn IO satellite prn/slot number (NULL: no output)
* return : satellite system (SYS_GPS,SYS_GLO,...)
*-----------------------------------------------------------------------------*/
extern int satsys(int sat, int *prn)
{
int sys=SYS_NONE;
if (sat<=0||MAXSAT<sat) sat=0;
else if (sat<=NSATGPS) {
sys=SYS_GPS; sat+=MINPRNGPS-1;
}
else if ((sat-=NSATGPS)<=NSATGLO) {
sys=SYS_GLO; sat+=MINPRNGLO-1;
}
else if ((sat-=NSATGLO)<=NSATGAL) {
sys=SYS_GAL; sat+=MINPRNGAL-1;
}
else if ((sat-=NSATGAL)<=NSATQZS) {
sys=SYS_QZS; sat+=MINPRNQZS-1;
}
else if ((sat-=NSATQZS)<=NSATCMP) {
sys=SYS_CMP; sat+=MINPRNCMP-1;
}
else if ((sat-=NSATCMP)<=NSATIRN) {
sys=SYS_IRN; sat+=MINPRNIRN-1;
}
else if ((sat-=NSATIRN)<=NSATLEO) {
sys=SYS_LEO; sat+=MINPRNLEO-1;
}
else if ((sat-=NSATLEO)<=NSATSBS) {
sys=SYS_SBS; sat+=MINPRNSBS-1;
}
else sat=0;
if (prn) *prn=sat;
return sys;
}
/* satellite id to satellite number --------------------------------------------
* convert satellite id to satellite number
* args : char *id I satellite id (nn,Gnn,Rnn,Enn,Jnn,Cnn,Inn or Snn)
* return : satellite number (0: error)
* notes : 120-142 and 193-199 are also recognized as sbas and qzss
*-----------------------------------------------------------------------------*/
extern int satid2no(const char *id)
{
int sys,prn;
char code;
if (sscanf(id,"%d",&prn)==1) {
if (MINPRNGPS<=prn&&prn<=MAXPRNGPS) sys=SYS_GPS;
else if (MINPRNSBS<=prn&&prn<=MAXPRNSBS) sys=SYS_SBS;
else if (MINPRNQZS<=prn&&prn<=MAXPRNQZS) sys=SYS_QZS;
else return 0;
return satno(sys,prn);
}
if (sscanf(id,"%c%d",&code,&prn)<2) return 0;
switch (code) {
case 'G': sys=SYS_GPS; prn+=MINPRNGPS-1; break;
case 'R': sys=SYS_GLO; prn+=MINPRNGLO-1; break;
case 'E': sys=SYS_GAL; prn+=MINPRNGAL-1; break;
case 'J': sys=SYS_QZS; prn+=MINPRNQZS-1; break;
case 'C': sys=SYS_CMP; prn+=MINPRNCMP-1; break;
case 'I': sys=SYS_IRN; prn+=MINPRNIRN-1; break;
case 'L': sys=SYS_LEO; prn+=MINPRNLEO-1; break;
case 'S': sys=SYS_SBS; prn+=100; break;
default: return 0;
}
return satno(sys,prn);
}
/* satellite number to satellite id --------------------------------------------
* convert satellite number to satellite id
* args : int sat I satellite number
* char *id O satellite id (Gnn,Rnn,Enn,Jnn,Cnn,Inn or nnn)
* return : none
*-----------------------------------------------------------------------------*/
extern void satno2id(int sat, char *id)
{
int prn;
switch (satsys(sat,&prn)) {
case SYS_GPS: sprintf(id,"G%02d",prn-MINPRNGPS+1); return;
case SYS_GLO: sprintf(id,"R%02d",prn-MINPRNGLO+1); return;
case SYS_GAL: sprintf(id,"E%02d",prn-MINPRNGAL+1); return;
case SYS_QZS: sprintf(id,"J%02d",prn-MINPRNQZS+1); return;
case SYS_CMP: sprintf(id,"C%02d",prn-MINPRNCMP+1); return;
case SYS_IRN: sprintf(id,"I%02d",prn-MINPRNIRN+1); return;
case SYS_LEO: sprintf(id,"L%02d",prn-MINPRNLEO+1); return;
case SYS_SBS: sprintf(id,"%03d" ,prn); return;
}
strcpy(id,"");
}
/* test excluded satellite -----------------------------------------------------
* test excluded satellite
* args : int sat I satellite number
* int svh I sv health flag
* prcopt_t *opt I processing options (NULL: not used)
* return : status (1:excluded,0:not excluded)
*-----------------------------------------------------------------------------*/
extern int satexclude(int sat, int svh, const prcopt_t *opt)
{
int sys=satsys(sat,NULL);
if (svh<0) return 1; /* ephemeris unavailable */
if (opt) {
if (opt->exsats[sat-1]==1) return 1; /* excluded satellite */
if (opt->exsats[sat-1]==2) return 0; /* included satellite */
if (!(sys&opt->navsys)) return 1; /* unselected sat sys */
}
if (sys==SYS_QZS) svh&=0xFE; /* mask QZSS LEX health */
if (svh) {
trace(3,"unhealthy satellite: sat=%3d svh=%02X\n",sat,svh);
return 1;
}
return 0;
}
/* test SNR mask ---------------------------------------------------------------
* test SNR mask
* args : int base I rover or base-station (0:rover,1:base station)
* int freq I frequency (0:L1,1:L2,2:L3,...)
* double el I elevation angle (rad)
* double snr I C/N0 (dBHz)
* snrmask_t *mask I SNR mask
* return : status (1:masked,0:unmasked)
*-----------------------------------------------------------------------------*/
extern int testsnr(int base, int freq, double el, double snr,
const snrmask_t *mask)
{
double minsnr,a;
int i;
if (!mask->ena[base]||freq<0||freq>=NFREQ) return 0;
a=(el*R2D+5.0)/10.0;
i=(int)floor(a); a-=i;
if (i<1) minsnr=mask->mask[freq][0];
else if (i>8) minsnr=mask->mask[freq][8];
else minsnr=(1.0-a)*mask->mask[freq][i-1]+a*mask->mask[freq][i];
return snr<minsnr;
}
/* obs type string to obs code -------------------------------------------------
* convert obs code type string to obs code
* args : char *str I obs code string ("1C","1P","1Y",...)
* int *freq IO frequency (1:L1,2:L2,3:L5,4:L6,5:L7,6:L8,0:err)
* (NULL: no output)
* return : obs code (CODE_???)
* notes : obs codes are based on reference [6] and qzss extension
*-----------------------------------------------------------------------------*/
extern unsigned char obs2code(const char *obs, int *freq)
{
int i;
if (freq) *freq=0;
for (i=1;*obscodes[i];i++) {
if (strcmp(obscodes[i],obs)) continue;
if (freq) *freq=obsfreqs[i];
return (unsigned char)i;
}
return CODE_NONE;
}
/* obs code to obs code string -------------------------------------------------
* convert obs code to obs code string
* args : unsigned char code I obs code (CODE_???)
* int *freq IO frequency (NULL: no output)
* (1:L1/E1, 2:L2/B1, 3:L5/E5a/L3, 4:L6/LEX/B3,
5:E5b/B2, 6:E5(a+b), 7:S)
* return : obs code string ("1C","1P","1P",...)
* notes : obs codes are based on reference [6] and qzss extension
*-----------------------------------------------------------------------------*/
extern char *code2obs(unsigned char code, int *freq)
{
if (freq) *freq=0;
if (code<=CODE_NONE||MAXCODE<code) return "";
if (freq) *freq=obsfreqs[code];
return obscodes[code];
}
/* set code priority -----------------------------------------------------------
* set code priority for multiple codes in a frequency
* args : int sys I system (or of SYS_???)
* int freq I frequency (1:L1,2:L2,3:L5,4:L6,5:L7,6:L8,7:L9)
* char *pri I priority of codes (series of code characters)
* (higher priority precedes lower)
* return : none
*-----------------------------------------------------------------------------*/
extern void setcodepri(int sys, int freq, const char *pri)
{
trace(3,"setcodepri:sys=%d freq=%d pri=%s\n",sys,freq,pri);
if (freq<=0||MAXFREQ<freq) return;
if (sys&SYS_GPS) strcpy(codepris[0][freq-1],pri);
if (sys&SYS_GLO) strcpy(codepris[1][freq-1],pri);
if (sys&SYS_GAL) strcpy(codepris[2][freq-1],pri);
if (sys&SYS_QZS) strcpy(codepris[3][freq-1],pri);
if (sys&SYS_SBS) strcpy(codepris[4][freq-1],pri);
if (sys&SYS_CMP) strcpy(codepris[5][freq-1],pri);
if (sys&SYS_IRN) strcpy(codepris[6][freq-1],pri);
}
/* get code priority -----------------------------------------------------------
* get code priority for multiple codes in a frequency
* args : int sys I system (SYS_???)
* unsigned char code I obs code (CODE_???)
* char *opt I code options (NULL:no option)
* return : priority (15:highest-1:lowest,0:error)
*-----------------------------------------------------------------------------*/
extern int getcodepri(int sys, unsigned char code, const char *opt)
{
const char *p,*optstr;
char *obs,str[8]="";
int i,j;
switch (sys) {
case SYS_GPS: i=0; optstr="-GL%2s"; break;
case SYS_GLO: i=1; optstr="-RL%2s"; break;
case SYS_GAL: i=2; optstr="-EL%2s"; break;
case SYS_QZS: i=3; optstr="-JL%2s"; break;
case SYS_SBS: i=4; optstr="-SL%2s"; break;
case SYS_CMP: i=5; optstr="-CL%2s"; break;
case SYS_IRN: i=6; optstr="-IL%2s"; break;
default: return 0;
}
obs=code2obs(code,&j);
/* parse code options */
for (p=opt;p&&(p=strchr(p,'-'));p++) {
if (sscanf(p,optstr,str)<1||str[0]!=obs[0]) continue;
return str[1]==obs[1]?15:0;
}
/* search code priority */
return (p=strchr(codepris[i][j-1],obs[1]))?14-(int)(p-codepris[i][j-1]):0;
}
/* extract unsigned/signed bits ------------------------------------------------
* extract unsigned/signed bits from byte data
* args : unsigned char *buff I byte data
* int pos I bit position from start of data (bits)
* int len I bit length (bits) (len<=32)
* return : extracted unsigned/signed bits
*-----------------------------------------------------------------------------*/
extern unsigned int getbitu(const unsigned char *buff, int pos, int len)
{
unsigned int bits=0;
int i;
for (i=pos;i<pos+len;i++) bits=(bits<<1)+((buff[i/8]>>(7-i%8))&1u);
return bits;
}
extern int getbits(const unsigned char *buff, int pos, int len)
{
unsigned int bits=getbitu(buff,pos,len);
if (len<=0||32<=len||!(bits&(1u<<(len-1)))) return (int)bits;
return (int)(bits|(~0u<<len)); /* extend sign */
}
/* set unsigned/signed bits ----------------------------------------------------
* set unsigned/signed bits to byte data
* args : unsigned char *buff IO byte data
* int pos I bit position from start of data (bits)
* int len I bit length (bits) (len<=32)
* (unsigned) int I unsigned/signed data
* return : none
*-----------------------------------------------------------------------------*/
extern void setbitu(unsigned char *buff, int pos, int len, unsigned int data)
{
unsigned int mask=1u<<(len-1);
int i;
if (len<=0||32<len) return;
for (i=pos;i<pos+len;i++,mask>>=1) {
if (data&mask) buff[i/8]|=1u<<(7-i%8); else buff[i/8]&=~(1u<<(7-i%8));
}
}
extern void setbits(unsigned char *buff, int pos, int len, int data)
{
if (data<0) data|=1<<(len-1); else data&=~(1<<(len-1)); /* set sign bit */
setbitu(buff,pos,len,(unsigned int)data);
}
/* crc-32 parity ---------------------------------------------------------------
* compute crc-32 parity for novatel raw
* args : unsigned char *buff I data
* int len I data length (bytes)
* return : crc-32 parity
* notes : see NovAtel OEMV firmware manual 1.7 32-bit CRC
*-----------------------------------------------------------------------------*/
extern unsigned int rtk_crc32(const unsigned char *buff, int len)
{
unsigned int crc=0;
int i,j;
trace(4,"rtk_crc32: len=%d\n",len);
for (i=0;i<len;i++) {
crc^=buff[i];
for (j=0;j<8;j++) {
if (crc&1) crc=(crc>>1)^POLYCRC32; else crc>>=1;
}
}
return crc;
}
/* crc-24q parity --------------------------------------------------------------
* compute crc-24q parity for sbas, rtcm3
* args : unsigned char *buff I data
* int len I data length (bytes)
* return : crc-24Q parity
* notes : see reference [2] A.4.3.3 Parity
*-----------------------------------------------------------------------------*/
extern unsigned int rtk_crc24q(const unsigned char *buff, int len)
{
unsigned int crc=0;
int i;
trace(4,"rtk_crc24q: len=%d\n",len);
for (i=0;i<len;i++) crc=((crc<<8)&0xFFFFFF)^tbl_CRC24Q[(crc>>16)^buff[i]];
return crc;
}
/* crc-16 parity ---------------------------------------------------------------
* compute crc-16 parity for binex, nvs
* args : unsigned char *buff I data
* int len I data length (bytes)
* return : crc-16 parity
* notes : see reference [10] A.3.
*-----------------------------------------------------------------------------*/
extern unsigned short rtk_crc16(const unsigned char *buff, int len)
{
unsigned short crc=0;
int i;
trace(4,"rtk_crc16: len=%d\n",len);
for (i=0;i<len;i++) {
crc=(crc<<8)^tbl_CRC16[((crc>>8)^buff[i])&0xFF];
}
return crc;
}
/* decode navigation data word -------------------------------------------------
* check party and decode navigation data word
* args : unsigned int word I navigation data word (2+30bit)
* (previous word D29*-30* + current word D1-30)
* unsigned char *data O decoded navigation data without parity
* (8bitx3)
* return : status (1:ok,0:parity error)
* notes : see reference [1] 20.3.5.2 user parity algorithm
*-----------------------------------------------------------------------------*/
extern int decode_word(unsigned int word, unsigned char *data)
{
const unsigned int hamming[]={
0xBB1F3480,0x5D8F9A40,0xAEC7CD00,0x5763E680,0x6BB1F340,0x8B7A89C0
};
unsigned int parity=0,w;
int i;
trace(5,"decodeword: word=%08x\n",word);
if (word&0x40000000) word^=0x3FFFFFC0;
for (i=0;i<6;i++) {
parity<<=1;
for (w=(word&hamming[i])>>6;w;w>>=1) parity^=w&1;
}
if (parity!=(word&0x3F)) return 0;
for (i=0;i<3;i++) data[i]=(unsigned char)(word>>(22-i*8));
return 1;
}
/* new matrix ------------------------------------------------------------------
* allocate memory of matrix
* args : int n,m I number of rows and columns of matrix
* return : matrix pointer (if n<=0 or m<=0, return NULL)
*-----------------------------------------------------------------------------*/
extern double *mat(int n, int m)
{
double *p;
if (n<=0||m<=0) return NULL;
if (!(p=(double *)malloc(sizeof(double)*n*m))) {
fatalerr("matrix memory allocation error: n=%d,m=%d\n",n,m);
}
return p;
}
/* new integer matrix ----------------------------------------------------------
* allocate memory of integer matrix
* args : int n,m I number of rows and columns of matrix
* return : matrix pointer (if n<=0 or m<=0, return NULL)
*-----------------------------------------------------------------------------*/
extern int *imat(int n, int m)
{
int *p;
if (n<=0||m<=0) return NULL;
if (!(p=(int *)malloc(sizeof(int)*n*m))) {
fatalerr("integer matrix memory allocation error: n=%d,m=%d\n",n,m);
}
return p;
}
/* zero matrix -----------------------------------------------------------------
* generate new zero matrix
* args : int n,m I number of rows and columns of matrix
* return : matrix pointer (if n<=0 or m<=0, return NULL)
*-----------------------------------------------------------------------------*/
extern double *zeros(int n, int m)
{
double *p;
#if NOCALLOC
if ((p=mat(n,m))) for (n=n*m-1;n>=0;n--) p[n]=0.0;
#else
if (n<=0||m<=0) return NULL;
if (!(p=(double *)calloc(sizeof(double),n*m))) {
fatalerr("matrix memory allocation error: n=%d,m=%d\n",n,m);
}
#endif
return p;
}
/* identity matrix -------------------------------------------------------------
* generate new identity matrix
* args : int n I number of rows and columns of matrix
* return : matrix pointer (if n<=0, return NULL)
*-----------------------------------------------------------------------------*/
extern double *eye(int n)
{
double *p;
int i;
if ((p=zeros(n,n))) for (i=0;i<n;i++) p[i+i*n]=1.0;
return p;
}
/* inner product ---------------------------------------------------------------
* inner product of vectors
* args : double *a,*b I vector a,b (n x 1)
* int n I size of vector a,b
* return : a'*b
*-----------------------------------------------------------------------------*/
extern double dot(const double *a, const double *b, int n)
{
double c=0.0;
while (--n>=0) c+=a[n]*b[n];
return c;
}
/* euclid norm -----------------------------------------------------------------
* euclid norm of vector
* args : double *a I vector a (n x 1)
* int n I size of vector a
* return : || a ||
*-----------------------------------------------------------------------------*/
extern double norm(const double *a, int n)
{
return sqrt(dot(a,a,n));
}
/* outer product of 3d vectors -------------------------------------------------
* outer product of 3d vectors
* args : double *a,*b I vector a,b (3 x 1)
* double *c O outer product (a x b) (3 x 1)
* return : none
*-----------------------------------------------------------------------------*/
extern void cross3(const double *a, const double *b, double *c)
{
c[0]=a[1]*b[2]-a[2]*b[1];
c[1]=a[2]*b[0]-a[0]*b[2];
c[2]=a[0]*b[1]-a[1]*b[0];
}
/* normalize 3d vector ---------------------------------------------------------
* normalize 3d vector
* args : double *a I vector a (3 x 1)
* double *b O normlized vector (3 x 1) || b || = 1
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
extern int normv3(const double *a, double *b)
{
double r;
if ((r=norm(a,3))<=0.0) return 0;
b[0]=a[0]/r;
b[1]=a[1]/r;
b[2]=a[2]/r;
return 1;
}
/* copy matrix -----------------------------------------------------------------
* copy matrix
* args : double *A O destination matrix A (n x m)
* double *B I source matrix B (n x m)
* int n,m I number of rows and columns of matrix
* return : none
*-----------------------------------------------------------------------------*/
extern void matcpy(double *A, const double *B, int n, int m)
{
memcpy(A,B,sizeof(double)*n*m);
}
/* matrix routines -----------------------------------------------------------*/
#ifdef LAPACK /* with LAPACK/BLAS or MKL */
/* multiply matrix (wrapper of blas dgemm) -------------------------------------
* multiply matrix by matrix (C=alpha*A*B+beta*C)
* args : char *tr I transpose flags ("N":normal,"T":transpose)
* int n,k,m I size of (transposed) matrix A,B
* double alpha I alpha
* double *A,*B I (transposed) matrix A (n x m), B (m x k)
* double beta I beta
* double *C IO matrix C (n x k)
* return : none
*-----------------------------------------------------------------------------*/
extern void matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C)
{
int lda=tr[0]=='T'?m:n,ldb=tr[1]=='T'?k:m;
dgemm_((char *)tr,(char *)tr+1,&n,&k,&m,&alpha,(double *)A,&lda,(double *)B,
&ldb,&beta,C,&n);
}
/* inverse of matrix -----------------------------------------------------------
* inverse of matrix (A=A^-1)
* args : double *A IO matrix (n x n)
* int n I size of matrix A
* return : status (0:ok,0>:error)
*-----------------------------------------------------------------------------*/
extern int matinv(double *A, int n)
{
double *work;
int info,lwork=n*16,*ipiv=imat(n,1);
work=mat(lwork,1);
dgetrf_(&n,&n,A,&n,ipiv,&info);
if (!info) dgetri_(&n,A,&n,ipiv,work,&lwork,&info);
free(ipiv); free(work);
return info;
}
/* solve linear equation -------------------------------------------------------
* solve linear equation (X=A\Y or X=A'\Y)
* args : char *tr I transpose flag ("N":normal,"T":transpose)
* double *A I input matrix A (n x n)
* double *Y I input matrix Y (n x m)
* int n,m I size of matrix A,Y
* double *X O X=A\Y or X=A'\Y (n x m)
* return : status (0:ok,0>:error)
* notes : matirix stored by column-major order (fortran convention)
* X can be same as Y
*-----------------------------------------------------------------------------*/
extern int solve(const char *tr, const double *A, const double *Y, int n,
int m, double *X)
{
double *B=mat(n,n);
int info,*ipiv=imat(n,1);
matcpy(B,A,n,n);
matcpy(X,Y,n,m);
dgetrf_(&n,&n,B,&n,ipiv,&info);
if (!info) dgetrs_((char *)tr,&n,&m,B,&n,ipiv,X,&n,&info);
free(ipiv); free(B);
return info;
}
#else /* without LAPACK/BLAS or MKL */
/* multiply matrix -----------------------------------------------------------*/
extern void matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C)
{
double d;
int i,j,x,f=tr[0]=='N'?(tr[1]=='N'?1:2):(tr[1]=='N'?3:4);
for (i=0;i<n;i++) for (j=0;j<k;j++) {
d=0.0;
switch (f) {
case 1: for (x=0;x<m;x++) d+=A[i+x*n]*B[x+j*m]; break;
case 2: for (x=0;x<m;x++) d+=A[i+x*n]*B[j+x*k]; break;
case 3: for (x=0;x<m;x++) d+=A[x+i*m]*B[x+j*m]; break;
case 4: for (x=0;x<m;x++) d+=A[x+i*m]*B[j+x*k]; break;
}
if (beta==0.0) C[i+j*n]=alpha*d; else C[i+j*n]=alpha*d+beta*C[i+j*n];
}
}
/* LU decomposition ----------------------------------------------------------*/
static int ludcmp(double *A, int n, int *indx, double *d)
{
double big,s,tmp,*vv=mat(n,1);
int i,imax=0,j,k;
*d=1.0;
for (i=0;i<n;i++) {
big=0.0; for (j=0;j<n;j++) if ((tmp=fabs(A[i+j*n]))>big) big=tmp;
if (big>0.0) vv[i]=1.0/big; else {free(vv); return -1;}
}
for (j=0;j<n;j++) {