RTKLIB专题学习(十二)—支持的信号ID/观测类型及读取优先级

RTKLIB专题学习(十二)—支持的信号ID/观测类型

基础理论知识

观测值类型

RTKLIB支持的信号id /观测类型如下表所示。表中还列出了RINEX 2、RINEX 3观测类型、RTCM 3 MSM信号id和BINEX观测代码id。使用RTKCONV和CONVBIN实现RTCM3和RINEX以及RTCM 2到RINEX的转换，当使用STRSVR和STR2STR实现RTCM 2和BINEX到RTCM3的转换，也使用了该表。




对于各系统的目前的频率和观测值类型，可参见如下：(表中观测值类型分别为：伪距观测值、载波相位观测值、多普勒观测值、信号强度观测值)

多信号默认优先级

如果输入的观测数据在同一频率内包含多个信号，RTKLIB将按照以下默认优先级选择一个信号进行处理。要选择合适的信号，请使用附录D.5中描述的RINEX选项或接收器相关选项。在用户ap中，要改变或获取信号优先级，可以使用API setcodepri()或getcodepri()。

可以看到，对于北斗系统来说，三个频率信号选择的优先级是C2I、C7I、C6I，也就是说当选择单频定位时，使用C2I信号对应的观测值，当选择L1+L2时，使用C2I+C7I信号对应的观测值进行观测方程的建立。

源码读取函数

源码简介

源码中，读取观测值文件和星历文件的函数为readobsnav，由execses函数调用，下面是readobsnav函数中的内容：

/* read obs and nav data -----------------------------------------------------*/
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)
{
   
   
    int i,j,ind=0,nobs=0,rcv=1;
    
    trace(3,"readobsnav: ts=%s n=%d\n",time_str(ts,0),n);
    
    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;
    
    for (i=0;i<n;i++) {
   
   
        if (checkbrk("")) return 0;
        
        if (index[i]!=ind) {
   
   
            if (obs->n>nobs) rcv++;
            ind=index[i]; nobs=obs->n; 
        }
        /* read rinex obs and nav file */
        if (readrnxt(infile[i],rcv,ts,te,ti,prcopt->rnxopt[rcv<=1?0:1],obs,nav,
                     rcv<=2?sta+rcv-1:NULL)<0) {
   
   
            checkbrk("error : insufficient memory");
            trace(1,"insufficient memory\n");
            return 0;
        }
    }
    if (obs->n<=0) {
   
   
        checkbrk("error : no obs data");
        trace(1,"\n");
        return 0;
    }
    if (nav->n<=0&&nav->ng<=0&&nav->ns<=0) {
   
   
        checkbrk("error : no nav data");
        trace(1,"\n");
        return 0;
    }
    /* sort observation data */
    nepoch=sortobs(obs);
    
    /* delete duplicated ephemeris */
    uniqnav(nav);
    
    /* set time span for progress display */
    if (ts.time==0||te.time==0) {
   
   
        for (i=0;   i<obs->n;i++) if (obs->data[i].rcv==1) break;
        for (j=obs->n-1;j>=0;j--) if (obs->data[j].rcv==1) break;
        if (i<j) {
   
   
            if (ts.time==0) ts=obs->data[i].time;
            if (te.time==0) te=obs->data[j].time;
            settspan(ts,te);
        }
    }
    return 1;
}

而readobsnav又通过调用readrnxt函数来进一步实现：

/* read RINEX OBS and NAV files ------------------------------------------------
* read RINEX OBS and NAV files
* args   : char *file    I      file (wild-card * expanded) ("": stdin)
*          int   rcv     I      receiver number for obs data
*         (gtime_t ts)   I      observation time start (ts.time==0: no limit)
*         (gtime_t te)   I      observation time end   (te.time==0: no limit)
*         (double tint)  I      observation time interval (s) (0:all)
*          char  *opt    I      RINEX options (see below,"": no option)
*          obs_t *obs    IO     observation data   (NULL: no input)
*          nav_t *nav    IO     navigation data    (NULL: no input)
*          sta_t *sta    IO     station parameters (NULL: no input)
* return : status (1:ok,0:no data,-1:error)
* notes  : read data are appended to obs and nav struct
*          before calling the function, obs and nav should be initialized.
*          observation data and navigation data are not sorted.
*          navigation data may be duplicated.
*          call sortobs() or uniqnav() to sort data or delete duplicated eph.
*
*          RINEX options (separated by spaces) :
*
*            -GLss[=shift]: select GPS signal ss (ss: RINEX 3 code, "1C","2W"...)
*            -RLss[=shift]: select GLO signal ss
*            -ELss[=shift]: select GAL signal ss
*            -JLss[=shift]: select QZS signal ss
*            -CLss[=shift]: select BDS signal ss
*            -ILss[=shift]: select IRN signal ss
*            -SLss[=shift]: select SBS signal ss
*
*                 shift: carrier phase shift to be added (cycle)
*            
*            -SYS=sys[,sys...]: select navigation systems
*                               (sys=G:GPS,R:GLO,E:GAL,J:QZS,C:BDS,I:IRN,S:SBS)
*
*-----------------------------------------------------------------------------*/
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)
{
   
   
    int i,n,stat=0;
    const char *p;
    char type=' ',*files[MAXEXFILE]={
   
   0};
    
    trace(3,"readrnxt: file=%s rcv=%d\n",file,rcv);
    
    if (!*file) {
   
   
        return readrnxfp(stdin,ts,te,tint,opt,0,1,&type,obs,nav,sta);
    }
    for (i=0;i<MAXEXFILE;i++) {
   
   
        if (!(files[i]=(char *)malloc(1024))) {
   
   
            for (i--;i>=0;i--) free(files[i]);
            return -1;
        }
    }
    /* expand wild-card */
    if ((n=expath(file,files,MAXEXFILE))<=0) {
   
   
        for (i=0;i<MAXEXFILE;i++) free(files[i]);
        return 0;
    }
    /* read rinex files */
    for (i=0;i<n&&stat>=0;i++) {
   
   
        stat=readrnxfile(files[i],ts,te,tint,opt,0,rcv,&type,obs,nav,sta);
    }
    /* if station name empty, set 4-char name from file head */
    if (type=='O'&&sta) {
   
   
        if (!(p=strrchr(file,FILEPATHSEP))) p=file-1;
        if (!*sta->name) setstr(sta->name,p+1,4);
    }
    for (i=0;i<MAXEXFILE;i++) free(files[i]);
    
    return stat;
}

readrnxt函数又调用readrnxfp和readrnxfile函数；其中，readrnxfp函数用于读取未压缩的文件，而readrnxfile用于读取压缩之后的文件，代码分别如下：

/* read RINEX file -----------------------------------------------------------*/
static int readrnxfp(FILE *fp, gtime_t ts,