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rinex.c
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/*------------------------------------------------------------------------------
* rinex.c : RINEX functions
*
* Copyright (C) 2007-2020 by T.TAKASU, All rights reserved.
*
* reference :
* [1] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 2.11, December 10, 2007
* [2] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [3] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [4] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 2.12, June 23, 2009
* [5] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.01, June 22, 2009
* [6] J.Ray and W.Gurtner, RINEX extensions to handle clock information
* version 3.02, September 2, 2010
* [7] RINEX The Receiver Independent Exchange Format Version 3.02,
* International GNSS Service (IGS), RINEX Working Group and Radio
* Technical Commission for Maritime Services Special Committee 104
* (RTCM-SC104), December 10, 2012
* [8] RINEX The Receiver Independent Exchange Format Version 3.03,
* International GNSS Service (IGS), RINEX Working Group and Radio
* Technical Commission for Maritime Services Special Committee 104
* (RTCM-SC104), July 14, 2015
* [9] RINEX The Receiver Independent Exchange Format Version 3.04,
* International GNSS Service (IGS), RINEX Working Group and Radio
* Technical Commission for Maritime Services Special Committee 104
* (RTCM-SC104), November 23, 2018
*
* version : $Revision:$
* history : 2006/01/16 1.0 new
* 2007/03/14 1.1 read P1 if no obstype of C1
* 2007/04/27 1.2 add readrnxt() function
* 2007/05/25 1.3 add support of file path with wild-card (*)
* add support of compressed files
* 2007/11/02 1.4 support sbas/geo satellite
* support doppler observables
* support rinex bug of week handover
* add rinex obs/nav output functions
* 2008/06/16 1.5 export readrnxf(), add compress()
* separate sortobs(), uniqeph(), screent()
* 2008/10/28 1.6 fix bug on reading rinex obs header types of observ
* 2009/04/09 1.7 support rinex 2.11
* change api of outrnxobsh(),outrnxobsb(),outrnxnavb()
* 2009/06/02 1.8 add api outrnxgnavb()
* 2009/08/15 1.9 support glonass
* add slip save/restore functions
* 2010/03/03 1.10 fix bug of array access by disabled satellite
* 2010/07/21 1.11 support rinex ver.2.12, 3.00
* support rinex extension for qzss
* support geo navigation messages
* added api:
* setrnxcodepri(),outrnxhnavh(),outrnxhnavb(),
* changed api:
* readrnx(),readrnxt(),outrnxnavh(),outrnxgnavh()
* 2010/05/29 1.12 fix bug on skipping invalid satellite data
* fix bug on frequency number overflow
* output P1 instead of C1 if rnxopt.rcvopt=-L1P
* output C2 instead of P2 if rnxopt.rcvopt=-L2C
* change api:
* outrnxgnavh(),outrnxhnavh(),readrnx(),
* readrnxt()
* add api:
* outrnxlnavh(), outrnxqnav()
* move uniqeph(),uniqgeph,uniqseph()
* 2010/08/19 1.13 suppress warning
* 2012/03/01 1.14 add function to read cnes widelane fcb in rnxclk
* support compass rinex nav
* change api: setcodepri()
* 2012/10/17 1.15 support ver.2.12, ver.3.01
* add api init_rnxctr(),free_rnxctr(),open_rnxctr(),
* input_rnxctr()
* change api readrnxt(),readrnx()
* delete api setrnxcodepri()
* fix bug on message frame time in v.3 glonass nav
* 2013/02/09 1.16 add reading geph.iode derived from toe
* 2013/02/23 1.17 support rinex 3.02 (ref [7])
* change api outrnxobsh()
* add api outrnxcnavh()
* fix bug on output of fit interval
* 2013/05/08 1.18 fix bug on reading glo and geo nav in rinex 3
* 2013/09/01 1.19 fix bug on reading galileo "C1" in rinex 2.12
* 2013/12/16 1.20 reject C1 for 2.12
* 2014/05/26 1.21 fix bug on reading gps "C2" in rinex 2.11 or 2.12
* fix problem on type incompatibility
* support beidou
* 2014/08/29 1.22 fix bug on reading gps "C2" in rinex 2.11 or 2.12
* 2014/10/20 1.23 recognize "C2" in 2.12 as "C2W" instead of "C2D"
* 2014/12/07 1.24 add read rinex option -SYS=...
* 2016/07/01 1.25 support RINEX 3.03
* support IRNSS
* 2016/09/17 1.26 fix bug on fit interval in QZSS RINEX nav
* URA output value compliant to RINEX 3.03
* 2016/10/10 1.27 add api outrnxinavh()
* 2018/10/10 1.28 support galileo sisa value for rinex nav output
* fix bug on handling beidou B1 code in rinex 3.03
* 2019/08/19 1.29 support galileo sisa index for rinex nav input
* 2020/11/30 1.30 support RINEX 3.04 (ref [9])
* support phase shift in RINEX options rnxopt_t
* support high-resolution (16bit) C/N0 in obsd_t
* support dual sets of ephemerides in RINEX control
* (for Galileo I/NAV and F/NAV)
* no support RINEX 2 NAV extensions (QZS and BDS)
* no support CNES/GRG clock extension in comments
* fix bug on segfault to read NavIC/IRNSS OBS data
* fix bug on segfault with # obs data >= MAXOBS
* fix bug on reading/writing GLONASS slot/frq # lines
* fix bug on reading SBAS UTC parameters in RINEX nav
* fix bug on saving slip info in extended OBS slots
* add iono/utc param. in separated output RINEX NAV
* zero-padded satellite number (e.g. "G 1" -> "G01")
* zero-padded month/date/hour/min/sec
* use exponent letter D instead of E for RINEX NAV
* use API code2idx() to get frequency index
* use integer types in stdint.h
* suppress warnings
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
/* constants/macros ----------------------------------------------------------*/
#define SQR(x) ((x)*(x))
#define NAVEXP "D" /* exponent letter in RINEX NAV */
#define MAXRNXLEN (16*MAXOBSTYPE+4) /* max RINEX record length */
#define MAXPOSHEAD 1024 /* max head line position */
#define MINFREQ_GLO -7 /* min frequency number GLONASS */
#define MAXFREQ_GLO 13 /* max frequency number GLONASS */
#define NINCOBS 262144 /* incremental number of obs data */
static const int navsys[RNX_NUMSYS]={ /* satellite systems */
SYS_GPS,SYS_GLO,SYS_GAL,SYS_QZS,SYS_SBS,SYS_CMP,SYS_IRN
};
/* Satellite system codes, nul terminated. RNX_SYS_ */
static const char syscodes[RNX_NUMSYS+1]="GREJSCI";
static const char obscodes[]="CLDS"; /* observation type codes */
static const double ura_eph[]={ /* RAa values (ref [3] 20.3.3.3.1.1) */
2.4,3.4,4.85,6.85,9.65,13.65,24.0,48.0,96.0,192.0,384.0,768.0,1536.0,
3072.0,6144.0,0.0
};
static const double ura_nominal[]={ /* URA nominal values */
2.0,2.8,4.0,5.7,8.0,11.3,16.0,32.0,64.0,128.0,256.0,512.0,1024.0,
2048.0,4096.0,8192.0
};
/* type definition -----------------------------------------------------------*/
typedef struct { /* signal index type */
int n; /* number of index */
int idx[MAXOBSTYPE]; /* signal freq-index */
int pos[MAXOBSTYPE]; /* signal index in obs data (-1:no) */
uint8_t pri [MAXOBSTYPE]; /* signal priority (15-0) */
uint8_t type[MAXOBSTYPE]; /* type (0:C,1:L,2:D,3:S) */
uint8_t code[MAXOBSTYPE]; /* obs-code (CODE_L??) */
double shift[MAXOBSTYPE]; /* phase shift (cycle) */
} sigind_t;
/* set string without tail space ---------------------------------------------*/
static void setstr(char *dst, const char *src, int n)
{
char *p=dst;
const char *q=src;
while (*q&&q<src+n) *p++=*q++;
*p--='\0';
while (p>=dst&&*p==' ') *p--='\0';
}
/* adjust time considering week handover -------------------------------------*/
static gtime_t adjweek(gtime_t t, gtime_t t0)
{
double tt=timediff(t,t0);
if (tt<-302400.0) return timeadd(t, 604800.0);
if (tt> 302400.0) return timeadd(t,-604800.0);
return t;
}
/* adjust time considering week handover -------------------------------------*/
static gtime_t adjday(gtime_t t, gtime_t t0)
{
double tt=timediff(t,t0);
if (tt<-43200.0) return timeadd(t, 86400.0);
if (tt> 43200.0) return timeadd(t,-86400.0);
return t;
}
/* time string for ver.3 (yyyymmdd hhmmss UTC) -------------------------------*/
static void timestr_rnx(char *str)
{
gtime_t time;
double ep[6];
time=timeget();
time.sec=0.0;
time2epoch(time,ep);
sprintf(str,"%04.0f%02.0f%02.0f %02.0f%02.0f%02.0f UTC",ep[0],ep[1],ep[2],
ep[3],ep[4],ep[5]);
}
/* satellite to satellite code -----------------------------------------------*/
static int sat2code(int sat, char *code)
{
int prn;
switch (satsys(sat,&prn)) {
case SYS_GPS: sprintf(code,"G%02d",prn-MINPRNGPS+1); break;
case SYS_GLO: sprintf(code,"R%02d",prn-MINPRNGLO+1); break;
case SYS_GAL: sprintf(code,"E%02d",prn-MINPRNGAL+1); break;
case SYS_SBS: sprintf(code,"S%02d",prn-100); break;
case SYS_QZS: sprintf(code,"J%02d",prn-MINPRNQZS+1); break;
case SYS_CMP: sprintf(code,"C%02d",prn-MINPRNCMP+1); break;
case SYS_IRN: sprintf(code,"I%02d",prn-MINPRNIRN+1); break;
default: return 0;
}
return 1;
}
/* URA index to URA nominal value (m) ----------------------------------------*/
static double uravalue(int sva)
{
return 0<=sva&&sva<15?ura_nominal[sva]:8192.0;
}
/* URA value (m) to URA index ------------------------------------------------*/
static int uraindex(double value)
{
int i;
for (i=0;i<15;i++) if (ura_eph[i]>=value) break;
return i;
}
/* Galileo SISA index to SISA nominal value (m) ------------------------------*/
static double sisa_value(int sisa)
{
if (sisa< 0) return -1.0;
if (sisa<= 49) return sisa*0.01;
if (sisa<= 74) return 0.5+(sisa- 50)*0.02;
if (sisa<= 99) return 1.0+(sisa- 75)*0.04;
if (sisa<=125) return 2.0+(sisa-100)*0.16;
return -1.0; /* unknown or NAPA */
}
/* Galileo SISA value (m) to SISA index --------------------------------------*/
static int sisa_index(double value)
{
/*
* kudos to https://core.ac.uk/download/pdf/328854682.pdf for this ...
* Signal-in-Space Accuracy : SISA flag is a prediction at 1-sigma standard deviation of the quality of
* the transmitted signal.The flag can take values from 0 to 255. The transmitted standard index is 107 that
* corresponds to a SISA value of 3.12m.If the prediction is not available, the transmitted index is 255 and
* corresponds to No Accurate Prediction Available(NAPA).NAPA is an indicator of a potential anomalous
* signal-in-space[6].Please notice that SISA flag refers to the dual-frequency signal combinations.
*/
if (value<0.0 || value>6.0) return 255; /* unknown or NAPA */
else if (value<=0.49) return (int)round(value/0.01);
else if (value<=0.98) return (int)round((value-0.5)/0.02)+50;
else if (value<=1.96) return (int)round((value-1.0)/0.04)+75;
return (int)round((value-2.0)/0.16)+100;
}
/* initialize station parameter ----------------------------------------------*/
static void init_sta(sta_t *sta)
{
int i;
*sta->name ='\0';
*sta->marker ='\0';
*sta->antdes ='\0';
*sta->antsno ='\0';
*sta->rectype='\0';
*sta->recver ='\0';
*sta->recsno ='\0';
sta->antsetup=sta->itrf=sta->deltype=0;
for (i=0;i<3;i++) sta->pos[i]=0.0;
for (i=0;i<3;i++) sta->del[i]=0.0;
sta->hgt=0.0;
}
/*------------------------------------------------------------------------------
* input RINEX functions
*-----------------------------------------------------------------------------*/
/* convert RINEX obs-type ver.2 -> ver.3 -------------------------------------*/
static void convcode(double ver, int sys, const char *str, char *type)
{
strcpy(type," ");
if (!strcmp(str,"P1")) { /* ver.2.11 GPS L1PY,GLO L2P */
if (sys==SYS_GPS) sprintf(type,"%c1W",'C');
else if (sys==SYS_GLO) sprintf(type,"%c1P",'C');
}
else if (!strcmp(str,"P2")) { /* ver.2.11 GPS L2PY,GLO L2P */
if (sys==SYS_GPS) sprintf(type,"%c2W",'C');
else if (sys==SYS_GLO) sprintf(type,"%c2P",'C');
}
else if (!strcmp(str,"C1")) { /* ver.2.11 GPS L1C,GLO L1C/A */
if (ver>=2.12) ; /* reject C1 for 2.12 */
else if (sys==SYS_GPS) sprintf(type,"%c1C",'C');
else if (sys==SYS_GLO) sprintf(type,"%c1C",'C');
else if (sys==SYS_GAL) sprintf(type,"%c1X",'C'); /* ver.2.12 */
else if (sys==SYS_QZS) sprintf(type,"%c1C",'C');
else if (sys==SYS_SBS) sprintf(type,"%c1C",'C');
}
else if (!strcmp(str,"C2")) {
if (sys==SYS_GPS) {
if (ver>=2.12) sprintf(type,"%c2W",'C'); /* L2P(Y) */
else sprintf(type,"%c2X",'C'); /* L2C */
}
else if (sys==SYS_GLO) sprintf(type,"%c2C",'C');
else if (sys==SYS_QZS) sprintf(type,"%c2X",'C');
else if (sys==SYS_CMP) sprintf(type,"%c2X",'C'); /* ver.2.12 B1_2 */
}
else if (ver>=2.12&&str[1]=='A') { /* ver.2.12 L1C/A */
if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
}
else if (ver>=2.12&&str[1]=='B') { /* ver.2.12 GPS L1C */
if (sys==SYS_GPS) sprintf(type,"%c1X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c1X",str[0]);
}
else if (ver>=2.12&&str[1]=='C') { /* ver.2.12 GPS L2C */
if (sys==SYS_GPS) sprintf(type,"%c2X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
}
else if (ver>=2.12&&str[1]=='D') { /* ver.2.12 GLO L2C/A */
if (sys==SYS_GLO) sprintf(type,"%c2C",str[0]);
}
else if (ver>=2.12&&str[1]=='1') { /* ver.2.12 GPS L1PY,GLO L1P */
if (sys==SYS_GPS) sprintf(type,"%c1W",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1P",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
else if (sys==SYS_CMP) sprintf(type,"%c2X",str[0]); /* extension */
}
else if (ver<2.12&&str[1]=='1') {
if (sys==SYS_GPS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c1X",str[0]); /* tentative */
else if (sys==SYS_QZS) sprintf(type,"%c1C",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c1C",str[0]);
}
else if (str[1]=='2') {
if (sys==SYS_GPS) sprintf(type,"%c2W",str[0]);
else if (sys==SYS_GLO) sprintf(type,"%c2P",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c2X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c2X",str[0]); /* ver.2.12 B1_2 */
}
else if (str[1]=='5') {
if (sys==SYS_GPS) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_GAL) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c5X",str[0]);
else if (sys==SYS_SBS) sprintf(type,"%c5X",str[0]);
}
else if (str[1]=='6') {
if (sys==SYS_GAL) sprintf(type,"%c6X",str[0]);
else if (sys==SYS_QZS) sprintf(type,"%c6X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c6X",str[0]); /* ver.2.12 B3 */
}
else if (str[1]=='7') {
if (sys==SYS_GAL) sprintf(type,"%c7X",str[0]);
else if (sys==SYS_CMP) sprintf(type,"%c7X",str[0]); /* ver.2.12 B2b */
}
else if (str[1]=='8') {
if (sys==SYS_GAL) sprintf(type,"%c8X",str[0]);
}
trace(3,"convcode: ver=%.2f sys=%2d type= %s -> %s\n",ver,sys,str,type);
}
/* decode RINEX observation data file header ---------------------------------*/
static void decode_obsh(FILE *fp, char *buff, double ver, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta)
{
/* default codes for unknown code */
const char frqcodes[]="1256789";
const char *defcodes[]={
"CWX ", /* GPS: L125____ */
"CCXX X ", /* GLO: L1234_6_ */
"CXXXXX ", /* GAL: L125678_ */ /* FIXME: Galileo should not have L2! */
"CXXX ", /* QZS: L1256___ */
"C X ", /* SBS: L1_5____ */
"XIXIIX ", /* BDS: L125678_ */
" A A" /* IRN: L__5___9 */
};
double del[3];
int i,j,k,n,nt,prn,fcn;
const char *p;
char *label=buff+60,str[4];
trace(4,"decode_obsh: ver=%.2f\n",ver);
if (strstr(label,"MARKER NAME" )) {
if (sta) setstr(sta->name,buff,60);
}
else if (strstr(label,"MARKER NUMBER" )) { /* opt */
if (sta) setstr(sta->marker,buff,20);
}
else if (strstr(label,"MARKER TYPE" )) ; /* ver.3 */
else if (strstr(label,"OBSERVER / AGENCY" )) ;
else if (strstr(label,"REC # / TYPE / VERS" )) {
if (sta) {
setstr(sta->recsno, buff, 20);
setstr(sta->rectype,buff+20,20);
setstr(sta->recver, buff+40,20);
}
}
else if (strstr(label,"ANT # / TYPE" )) {
if (sta) {
setstr(sta->antsno,buff ,20);
setstr(sta->antdes,buff+20,20);
}
}
else if (strstr(label,"APPROX POSITION XYZ" )) {
if (sta) {
for (i=0,j=0;i<3;i++,j+=14) sta->pos[i]=str2num(buff,j,14);
}
}
else if (strstr(label,"ANTENNA: DELTA H/E/N")) {
if (sta) {
for (i=0,j=0;i<3;i++,j+=14) del[i]=str2num(buff,j,14);
sta->del[2]=del[0]; /* h */
sta->del[0]=del[1]; /* e */
sta->del[1]=del[2]; /* n */
}
}
else if (strstr(label,"ANTENNA: DELTA X/Y/Z")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: PHASECENTER")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: B.SIGHT XYZ")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: ZERODIR AZI")) ; /* opt ver.3 */
else if (strstr(label,"ANTENNA: ZERODIR XYZ")) ; /* opt ver.3 */
else if (strstr(label,"CENTER OF MASS: XYZ" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / # / OBS TYPES" )) { /* ver.3 */
if (!(p=strchr(syscodes,buff[0]))) {
trace(2,"invalid system code: sys=%c\n",buff[0]);
return;
}
i=(int)(p-syscodes);
n=(int)str2num(buff,3,3);
for (j=nt=0,k=7;j<n;j++,k+=4) {
if (k>58) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
k=7;
}
if (nt<MAXOBSTYPE-1) setstr(tobs[i][nt++],buff+k,3);
}
*tobs[i][nt]='\0';
/* change BDS B1 code: 3.02 */
if (i==RNX_SYS_CMP&&fabs(ver-3.02)<1e-3) {
for (j=0;j<nt;j++) if (tobs[i][j][1]=='1') tobs[i][j][1]='2';
}
/* uncomment this code to convert unknown codes to defaults */
/* for (j=0;j<nt;j++) {
if (tobs[i][j][2]) continue;
if (!(p=strchr(frqcodes,tobs[i][j][1]))) continue;
tobs[i][j][2]=defcodes[i][(int)(p-frqcodes)];
trace(2,"set default for unknown code: sys=%c code=%s\n",buff[0],
tobs[i][j]);
} */
}
else if (strstr(label,"WAVELENGTH FACT L1/2")) ; /* opt ver.2 */
else if (strstr(label,"# / TYPES OF OBSERV" )) { /* ver.2 */
n=(int)str2num(buff,0,6);
for (i=nt=0,j=10;i<n;i++,j+=6) {
if (j>58) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=10;
}
if (nt>=MAXOBSTYPE-1) continue;
if (ver<=2.99) {
setstr(str,buff+j,2);
convcode(ver,SYS_GPS,str,tobs[RNX_SYS_GPS][nt]);
convcode(ver,SYS_GLO,str,tobs[RNX_SYS_GLO][nt]);
convcode(ver,SYS_GAL,str,tobs[RNX_SYS_GAL][nt]);
convcode(ver,SYS_QZS,str,tobs[RNX_SYS_QZS][nt]);
convcode(ver,SYS_SBS,str,tobs[RNX_SYS_SBS][nt]);
convcode(ver,SYS_CMP,str,tobs[RNX_SYS_CMP][nt]);
/* IRN missing, assumed to be not applicable? */
}
nt++;
}
*tobs[0][nt]='\0';
}
else if (strstr(label,"SIGNAL STRENGTH UNIT")) ; /* opt ver.3 */
else if (strstr(label,"INTERVAL" )) ; /* opt */
else if (strstr(label,"TIME OF FIRST OBS" )) {
if (!strncmp(buff+48,"GPS",3)) *tsys=TSYS_GPS;
else if (!strncmp(buff+48,"GLO",3)) *tsys=TSYS_UTC;
else if (!strncmp(buff+48,"GAL",3)) *tsys=TSYS_GAL;
else if (!strncmp(buff+48,"QZS",3)) *tsys=TSYS_QZS; /* ver.3.02 */
else if (!strncmp(buff+48,"BDT",3)) *tsys=TSYS_CMP; /* ver.3.02 */
else if (!strncmp(buff+48,"IRN",3)) *tsys=TSYS_IRN; /* ver.3.03 */
}
else if (strstr(label,"TIME OF LAST OBS" )) ; /* opt */
else if (strstr(label,"RCV CLOCK OFFS APPL" )) ; /* opt */
else if (strstr(label,"SYS / DCBS APPLIED" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / PCVS APPLIED" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / SCALE FACTOR" )) ; /* opt ver.3 */
else if (strstr(label,"SYS / PHASE SHIFTS" )) ; /* ver.3.01 */
else if (strstr(label,"GLONASS SLOT / FRQ #")) { /* ver.3.02 */
for (i=0;i<8;i++) {
if (buff[4+i*7]!='R') continue;
prn=(int)str2num(buff,5+i*7,2);
fcn=(int)str2num(buff,8+i*7,2);
if (prn<1||prn>MAXPRNGLO||fcn<-7||fcn>6) continue;
if (nav) nav->glo_fcn[prn-1]=fcn+8;
}
}
else if (strstr(label,"GLONASS COD/PHS/BIS" )) { /* ver.3.02 */
if (sta) {
sta->glo_cp_bias[0]=str2num(buff, 5,8);
sta->glo_cp_bias[1]=str2num(buff,18,8);
sta->glo_cp_bias[2]=str2num(buff,31,8);
sta->glo_cp_bias[3]=str2num(buff,44,8);
}
}
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) {
nav->utc_gps[4]=str2num(buff, 0,6);
nav->utc_gps[7]=str2num(buff, 6,6);
nav->utc_gps[5]=str2num(buff,12,6);
nav->utc_gps[6]=str2num(buff,18,6);
}
}
else if (strstr(label,"# OF SATELLITES" )) { /* opt */
/* skip */ ;
}
else if (strstr(label,"PRN / # OF OBS" )) { /* opt */
/* skip */ ;
}
}
/* decode RINEX NAV header ---------------------------------------------------*/
static void decode_navh(char *buff, nav_t *nav)
{
int i,j;
char *label=buff+60;
trace(4,"decode_navh:\n");
if (strstr(label,"ION ALPHA" )) { /* opt ver.2 */
if (nav) {
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
}
}
else if (strstr(label,"ION BETA" )) { /* opt ver.2 */
if (nav) {
for (i=0,j=2;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
}
}
else if (strstr(label,"DELTA-UTC: A0,A1,T,W")) { /* opt ver.2 */
if (nav) {
for (i=0,j=3;i<2;i++,j+=19) nav->utc_gps[i]=str2num(buff,j,19);
for (;i<4;i++,j+=9) nav->utc_gps[i]=str2num(buff,j,9);
}
}
else if (strstr(label,"IONOSPHERIC CORR" )) { /* opt ver.3 */
if (nav) {
if (!strncmp(buff,"GPSA",4)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"GPSB",4)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gps[i+4]=str2num(buff,j,12);
}
else if (!strncmp(buff,"GAL",3)) {
for (i=0,j=5;i<4;i++,j+=12) nav->ion_gal[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"QZSA",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"QZSB",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_qzs[i+4]=str2num(buff,j,12);
}
else if (!strncmp(buff,"BDSA",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"BDSB",4)) { /* v.3.02 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_cmp[i+4]=str2num(buff,j,12);
}
else if (!strncmp(buff,"IRNA",4)) { /* v.3.03 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_irn[i]=str2num(buff,j,12);
}
else if (!strncmp(buff,"IRNB",4)) { /* v.3.03 */
for (i=0,j=5;i<4;i++,j+=12) nav->ion_irn[i+4]=str2num(buff,j,12);
}
}
}
else if (strstr(label,"TIME SYSTEM CORR" )) { /* opt ver.3 */
if (nav) {
if (!strncmp(buff,"GPUT",4)) {
nav->utc_gps[0]=str2num(buff, 5,17);
nav->utc_gps[1]=str2num(buff,22,16);
nav->utc_gps[2]=str2num(buff,38, 7);
nav->utc_gps[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"GLUT",4)) {
nav->utc_glo[0]=-str2num(buff,5,17); /* tau_C */
}
else if (!strncmp(buff,"GLGP",4)) {
nav->utc_glo[1]=str2num(buff, 5,17); /* tau_GPS */
}
else if (!strncmp(buff,"GAUT",4)) { /* v.3.02 */
nav->utc_gal[0]=str2num(buff, 5,17);
nav->utc_gal[1]=str2num(buff,22,16);
nav->utc_gal[2]=str2num(buff,38, 7);
nav->utc_gal[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"QZUT",4)) { /* v.3.02 */
nav->utc_qzs[0]=str2num(buff, 5,17);
nav->utc_qzs[1]=str2num(buff,22,16);
nav->utc_qzs[2]=str2num(buff,38, 7);
nav->utc_qzs[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"BDUT",4)) { /* v.3.02 */
nav->utc_cmp[0]=str2num(buff, 5,17);
nav->utc_cmp[1]=str2num(buff,22,16);
nav->utc_cmp[2]=str2num(buff,38, 7);
nav->utc_cmp[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"SBUT",4)) { /* v.3.02 */
nav->utc_sbs[0]=str2num(buff, 5,17);
nav->utc_sbs[1]=str2num(buff,22,16);
nav->utc_sbs[2]=str2num(buff,38, 7);
nav->utc_sbs[3]=str2num(buff,45, 5);
}
else if (!strncmp(buff,"IRUT",4)) { /* v.3.03 */
nav->utc_irn[0]=str2num(buff, 5,17);
nav->utc_irn[1]=str2num(buff,22,16);
nav->utc_irn[2]=str2num(buff,38, 7);
nav->utc_irn[3]=str2num(buff,45, 5);
nav->utc_irn[8]=0.0; /* A2 */
}
}
}
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) {
nav->utc_gps[4]=str2num(buff, 0,6);
nav->utc_gps[7]=str2num(buff, 6,6);
nav->utc_gps[5]=str2num(buff,12,6);
nav->utc_gps[6]=str2num(buff,18,6);
}
}
}
/* decode GNAV header --------------------------------------------------------*/
static void decode_gnavh(char *buff, nav_t *nav)
{
char *label=buff+60;
trace(4,"decode_gnavh:\n");
if (strstr(label,"CORR TO SYSTEM TIME" )) {} /* opt */
else if (strstr(label,"LEAP SECONDS" )) {} /* opt */
}
/* decode GEO NAV header -----------------------------------------------------*/
static void decode_hnavh(char *buff, nav_t *nav)
{
char *label=buff+60;
trace(4,"decode_hnavh:\n");
if (strstr(label,"CORR TO SYSTEM TIME" )) {} /* opt */
else if (strstr(label,"D-UTC A0,A1,T,W,S,U" )) {} /* opt */
else if (strstr(label,"LEAP SECONDS" )) {} /* opt */
}
/* read RINEX file header ----------------------------------------------------*/
static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
char tobs[][MAXOBSTYPE][4], nav_t *nav, sta_t *sta, int flag)
{
char buff[MAXRNXLEN],*label=buff+60;
int i=0;
trace(3,"readrnxh:\n");
*ver=2.10; *type=' '; *sys=SYS_GPS; *tsys=TSYS_GPS;
while (fgets(buff,MAXRNXLEN,fp)) {
if (strlen(buff)<=60) {
continue;
}
else if (strstr(label,"RINEX VERSION / TYPE")) {
*ver=str2num(buff,0,9);
/* format change for clock files >=3.04 */
*type=(*ver<3.04||flag==0)?*(buff+20):*(buff+21);
/* 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")) {
continue;
}
switch (*type) { /* file 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 */
}
return 0;
}
/* decode observation epoch --------------------------------------------------*/
static int decode_obsepoch(FILE *fp, char *buff, double ver, gtime_t *time,
int *flag, int *sats)
{
int i,j,n;
char satid[8]={'\0'};
trace(4,"decode_obsepoch: ver=%.2f\n",ver);
if (ver<=2.99) { /* ver.2 */
/* epoch flag: 3:new site,4:header info,5:external event */
*flag=(int)str2num(buff,28,1);
/* handle external event */
if (*flag == 5) {
str2time(buff,0,26,time);
}
if ((n=(int)str2num(buff,29,3))<=0) return 0;
if (3<=*flag&&*flag<=5) return n;
if (str2time(buff,0,26,time)) {
trace(2,"rinex obs invalid epoch: epoch=%26.26s\n",buff);
return 0;
}
for (i=0,j=32;i<n;i++,j+=3) {
if (j>=68) {
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=32;
}
if (i<MAXOBS) {
strncpy(satid,buff+j,3);
sats[i]=satid2no(satid);
}
}
}
else { /* ver.3 */
*flag=(int)str2num(buff,31,1);
/* handle external event */
if (*flag == 5) {
str2time(buff,1,28,time);
}
if ((n=(int)str2num(buff,32,3))<=0) return 0;
if (3<=*flag&&*flag<=5) return n;
if (buff[0]!='>'||str2time(buff,1,28,time)) {
trace(2,"rinex obs invalid epoch: epoch=%29.29s\n",buff);
return 0;
}
}
trace(4,"decode_obsepoch: time=%s flag=%d\n",time_str(*time,3),*flag);
return n;
}
/* decode observation data ---------------------------------------------------*/
static int decode_obsdata(FILE *fp, char *buff, double ver, int mask,
sigind_t *index, obsd_t *obs)
{
sigind_t *ind;
double val[MAXOBSTYPE]={0};
uint8_t lli[MAXOBSTYPE]={0};
uint8_t std[MAXOBSTYPE]={0};
char satid[8]="";
int i,j,n,m,q,stat=1,p[MAXOBSTYPE],k[16],l[16],r[16];
trace(4,"decode_obsdata: ver=%.2f\n",ver);
if (ver>2.99) { /* ver.3 */
sprintf(satid,"%.3s",buff);
obs->sat=(uint8_t)satid2no(satid);
}
if (!obs->sat) {
trace(4,"decode_obsdata: unsupported sat sat=%s\n",satid);
stat=0;
}
else if (!(satsys(obs->sat,NULL)&mask)) {
stat=0;
}
/* read observation data fields */
switch (satsys(obs->sat,NULL)) {
case SYS_GLO: ind=index+1; break;
case SYS_GAL: ind=index+2; break;
case SYS_QZS: ind=index+3; break;
case SYS_SBS: ind=index+4; break;
case SYS_CMP: ind=index+5; break;
case SYS_IRN: ind=index+6; break;
default: ind=index ; break;
}
for (i=0,j=ver<=2.99?0:3;i<ind->n;i++,j+=16) {
if (ver<=2.99&&j>=80) { /* ver.2 */
if (!fgets(buff,MAXRNXLEN,fp)) break;
j=0;
}
if (stat) {
val[i]=str2num(buff,j,14)+ind->shift[i];
lli[i]=(uint8_t)str2num(buff,j+14,1)&3;
/* measurement std from receiver */
std[i]=(uint8_t)str2num(buff,j+15,1);
}
}
if (!stat) return 0;
for (i=0;i<NFREQ+NEXOBS;i++) {
obs->P[i]=obs->L[i]=0.0; obs->D[i]=0.0f;
obs->SNR[i]=obs->LLI[i]=obs->Lstd[i]=obs->Pstd[i]=obs->code[i]=0;
}
/* assign position in observation data */
for (i=n=m=q=0;i<ind->n;i++) {
p[i]=(ver<=2.11)?ind->idx[i]:ind->pos[i];
if (ind->type[i]==0&&p[i]==0) k[n++]=i; /* C1? index */
if (ind->type[i]==0&&p[i]==1) l[m++]=i; /* C2? index */
if (ind->type[i]==0&&p[i]==2) r[q++]=i; /* C3? index */
}
/* if multiple codes (C1/P1,C2/P2), select higher priority */
if (ver<=2.11) {
if (n>=2) {
if (val[k[0]]==0.0&&val[k[1]]==0.0) {
p[k[0]]=-1; p[k[1]]=-1;
}
else if (val[k[0]]!=0.0&&val[k[1]]==0.0) {
p[k[0]]=0; p[k[1]]=-1;
}
else if (val[k[0]]==0.0&&val[k[1]]!=0.0) {
p[k[0]]=-1; p[k[1]]=0;
}
else if (ind->pri[k[1]]>ind->pri[k[0]]) {
p[k[1]]=0; p[k[0]]=NEXOBS<1?-1:NFREQ;
}
else {
p[k[0]]=0; p[k[1]]=NEXOBS<1?-1:NFREQ;
}
}
if (m>=2) {
if (val[l[0]]==0.0&&val[l[1]]==0.0) {
p[l[0]]=-1; p[l[1]]=-1;
}
else if (val[l[0]]!=0.0&&val[l[1]]==0.0) {
p[l[0]]=1; p[l[1]]=-1;
}
else if (val[l[0]]==0.0&&val[l[1]]!=0.0) {
p[l[0]]=-1; p[l[1]]=1;
}
else if (ind->pri[l[1]]>ind->pri[l[0]]) {
p[l[1]]=1; p[l[0]]=NEXOBS<2?-1:NFREQ+1;
}
else {
p[l[0]]=1; p[l[1]]=NEXOBS<2?-1:NFREQ+1;
}
}
if (q>=2) {
if (val[r[0]]==0.0&&val[r[1]]==0.0) {
p[r[0]]=-1; p[r[1]]=-1;
}
else if (val[r[0]]!=0.0&&val[r[1]]==0.0) {
p[r[0]]=2; p[r[1]]=-1;
}
else if (val[r[0]]==0.0&&val[r[1]]!=0.0) {
p[r[0]]=-1; p[r[1]]=2;
}
else if (ind->pri[r[1]]>ind->pri[r[0]]) {
p[r[1]]=2; p[r[0]]=NEXOBS<3?-1:NFREQ+2;
}
else {
p[r[0]]=2; p[r[1]]=NEXOBS<3?-1:NFREQ+2;
}
}
}
/* save observation data */
for (i=0;i<ind->n;i++) {
if (p[i]<0||(val[i]==0.0&&lli[i]==0)) continue;
switch (ind->type[i]) {
case 0: obs->P[p[i]]=val[i];
obs->code[p[i]]=ind->code[i];
obs->Pstd[p[i]]=std[i]>0?std[i]:0;
break;
case 1: obs->L[p[i]]=val[i];
obs->LLI[p[i]]=lli[i];
obs->Lstd[p[i]]=std[i]>0?std[i]:0;
break;
case 2: obs->D[p[i]]=(float)val[i]; break;
case 3: obs->SNR[p[i]]=(uint16_t)(val[i]/SNR_UNIT+0.5); break;
}
trace(4, "obs: i=%d f=%d P=%14.3f L=%14.3f LLI=%d code=%d\n",i,p[i],obs->P[p[i]],
obs->L[p[i]],obs->LLI[p[i]],obs->code[p[i]]);
}
trace(4,"decode_obsdata: time=%s sat=%2d\n",time_str(obs->time,0),obs->sat);
return 1;
}
/* save cycle slips ----------------------------------------------------------*/
static void saveslips(uint8_t slips[][NFREQ+NEXOBS], obsd_t *data)
{
int i;
for (i=0;i<NFREQ+NEXOBS;i++) {
if (data->LLI[i]&1) slips[data->sat-1][i]|=LLI_SLIP;
}
}
/* restore cycle slips -------------------------------------------------------*/
static void restslips(uint8_t slips[][NFREQ+NEXOBS], obsd_t *data)
{
int i;
for (i=0;i<NFREQ+NEXOBS;i++) {
if (slips[data->sat-1][i]&1) data->LLI[i]|=LLI_SLIP;
slips[data->sat-1][i]=0;
}
}
/* add observation data ------------------------------------------------------*/
static int addobsdata(obs_t *obs, const obsd_t *data)
{
obsd_t *obs_data;
if (obs->nmax<=obs->n) {
if (obs->nmax<=0) obs->nmax=NINCOBS; else obs->nmax*=2;
if (!(obs_data=(obsd_t *)realloc(obs->data,sizeof(obsd_t)*obs->nmax))) {
trace(1,"addobsdata: malloc error n=%dx%d\n",sizeof(obsd_t),obs->nmax);
free(obs->data); obs->data=NULL; obs->n=obs->nmax=0;
return -1;
}
obs->data=obs_data;
}
obs->data[obs->n++]=*data;
return 1;
}
/* set system mask -----------------------------------------------------------*/
static int set_sysmask(const char *opt)
{
const char *p;
int mask=SYS_NONE;
if (!(p=strstr(opt,"-SYS="))) return SYS_ALL;
for (p+=5;*p&&*p!=' ';p++) {
switch (*p) {
case 'G': mask|=SYS_GPS; break;
case 'R': mask|=SYS_GLO; break;
case 'E': mask|=SYS_GAL; break;
case 'J': mask|=SYS_QZS; break;
case 'C': mask|=SYS_CMP; break;
case 'I': mask|=SYS_IRN; break;
case 'S': mask|=SYS_SBS; break;
}
}
return mask;
}
/* set signal index ----------------------------------------------------------*/
static void set_index(double ver, int sys, const char *opt,
char tobs[MAXOBSTYPE][4], sigind_t *ind)
{
const char *p;
char str[8],*optstr="";
double shift;
int i,j,k,n;
for (i=n=0;*tobs[i];i++,n++) {
ind->code[i]=obs2code(tobs[i]+1);
ind->type[i]=(p=strchr(obscodes,tobs[i][0]))?(int)(p-obscodes):0;
ind->idx[i]=code2idx(sys,ind->code[i]);
ind->pri[i]=getcodepri(sys,ind->code[i],opt);
ind->pos[i]=-1;
}
/* parse phase shift options */
switch (sys) {
case SYS_GPS: optstr="-GL%2s=%lf"; break;
case SYS_GLO: optstr="-RL%2s=%lf"; break;
case SYS_GAL: optstr="-EL%2s=%lf"; break;
case SYS_QZS: optstr="-JL%2s=%lf"; break;
case SYS_SBS: optstr="-SL%2s=%lf"; break;
case SYS_CMP: optstr="-CL%2s=%lf"; break;
case SYS_IRN: optstr="-IL%2s=%lf"; break;
}
for (p=opt;p&&(p=strchr(p,'-'));p++) {
if (sscanf(p,optstr,str,&shift)<2) continue;
for (i=0;i<n;i++) {
if (strcmp(code2obs(ind->code[i]),str)) continue;
ind->shift[i]=shift;
trace(2,"phase shift: sys=%2d tobs=%s shift=%.3f\n",sys,
tobs[i],shift);
}
}
/* assign index for highest priority code */
for (i=0;i<NFREQ;i++) {
for (j=0,k=-1;j<n;j++) {
if (ind->idx[j]==i&&ind->pri[j]&&(k<0||ind->pri[j]>ind->pri[k])) {
k=j;
}