spp.cpp File Reference

Data Structures
struct	smoothControl

Functions
Architecture	SPP__ ()
bool	smoothedPsudo (Trace &trace, GObs &obs, double &meaP, double meaL, double &varP, double varL, bool update, bool LLI)
	Carrier-smoothing of code pseudoranges Ref: https://gssc.esa.int/navipedia/index.php/Carrier-smoothing_of_code_pseudoranges (eq (2))
bool	prange (Trace &trace, GObs &obs, E_IonoMode &ionoMode, E_FType &ft_A, E_FType &ft_B, double &range, double &measVar, double &bias, double &biasVar, KFState *kfState_ptr, bool smooth=false)
	Calculate pseudorange and code bias correction.
bool	validateDOP (ObsList &obsList, double elevationMaskDeg, Dops *dops_ptr=nullptr)
	Validate Dilution of Precision of solution.
void	printFailures (const string &id, ObsList &obsList)
void	removeUnmeasuredStates (KFState &kfState, KFMeasEntryList &kfMeasEntryList)
E_Solution	estpos (Trace &trace, ObsList &obsList, Solution &sol, string id, KFState *kfState_ptr=nullptr, string description="SPP", bool inRaim=false)
	Estimate receiver position and clock biases using pseudorange measurements.
bool	raim (Trace &trace, ObsList &obsList, Solution &sol, string id, KFState *kfState_ptr=nullptr)
	Receiver autonomous integrity monitoring (RAIM) failure detection and exclution Note: This is a simplified version of RAIM algorithm that tries to exclude multiple outliers iteratively instead of checking all possible subsets when more than one outliers present.
void	spp (Trace &trace, Receiver &rec, KFState *kfState_ptr, KFState *remote_ptr)
	Compute receiver position, clock biases by single-point positioning with pseudorange measurements.

Function Documentation

estpos()

E_Solution estpos	(	Trace &	trace,
		ObsList &	obsList,
		Solution &	sol,
		string	id,
		KFState *	kfState_ptr = nullptr,
		string	description = "SPP",
		bool	inRaim = false )

Estimate receiver position and clock biases using pseudorange measurements.

Parameters

trace	Trace file to output to
obsList	List of observations for this epoch
sol	Solution object containing initial conditions and results
id	Id of receiver
kfState_ptr	Optional kfstate pointer to retrieve ppp values from
description	Description to prepend to clarify outputs
inRaim	Is in RAIM

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prange()

bool prange	(	Trace &	trace,
		GObs &	obs,
		E_IonoMode &	ionoMode,
		E_FType &	ft_A,
		E_FType &	ft_B,
		double &	range,
		double &	measVar,
		double &	bias,
		double &	biasVar,
		KFState *	kfState_ptr,
		bool	smooth = false )

Calculate pseudorange and code bias correction.

Parameters

trace	Trace file to output to
obs	Observation to calculate pseudorange for
ionoMode	Ionospheric correction mode
ft_A	Primary frequency used for calculating pseudorange
ft_B	Secondary frequency used for calculating pseudorange
range	Pseudorange value output
measVar	Pseudorange variance output
bias	Bias value output
biasVar	Bias variance output
kfState_ptr	Optional kfstate to retrieve biases from
smooth	Update smoothing filter

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printFailures()

void printFailures	(	const string &	id,
		ObsList &	obsList )

Parameters

id	Id of receiver
obsList	List of observations for this epoch

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raim()

bool raim	(	Trace &	trace,
		ObsList &	obsList,
		Solution &	sol,
		string	id,
		KFState *	kfState_ptr = nullptr )

Receiver autonomous integrity monitoring (RAIM) failure detection and exclution Note: This is a simplified version of RAIM algorithm that tries to exclude multiple outliers iteratively instead of checking all possible subsets when more than one outliers present.

Parameters

trace	Trace file to output to
obsList	List of observations for this epoch
sol	Solution object containing initial conditions and results
id	Id of receiver

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removeUnmeasuredStates()

void removeUnmeasuredStates	(	KFState &	kfState,
		KFMeasEntryList &	kfMeasEntryList )

Parameters

kfState	Filter to remove states from
kfMeasEntryList	List of measurements for this filter iteration

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smoothedPsudo()

bool smoothedPsudo	(	Trace &	trace,
		GObs &	obs,
		double &	meaP,
		double	meaL,
		double &	varP,
		double	varL,
		bool	update,
		bool	LLI )

Carrier-smoothing of code pseudoranges Ref: https://gssc.esa.int/navipedia/index.php/Carrier-smoothing_of_code_pseudoranges (eq (2))

Parameters

obs	Observation to calculate pseudorange for

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spp()

void spp	(	Trace &	trace,
		Receiver &	rec,
		KFState *	kfState_ptr,
		KFState *	remote_ptr )

Compute receiver position, clock biases by single-point positioning with pseudorange measurements.

Parameters

trace	Trace file to output to
rec	Receiver to perform SPP for
kfState_ptr	Optional pointer to filter to take ephemerides from
remote_ptr	Optional pointer to filter to take ephemerides from

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SPP__()

Architecture SPP__

(

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validateDOP()

bool validateDOP	(	ObsList &	obsList,
		double	elevationMaskDeg,
		Dops *	dops_ptr = nullptr )

Validate Dilution of Precision of solution.

Parameters

obsList	List of observations for this epoch
elevationMaskDeg	Elevation mask
dops_ptr	Optional pointer to output for DOP

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