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rtkpos: detect code changes per frequency index #518

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rtkpos: detect code changes per frequency index #518

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1 change: 1 addition & 0 deletions src/rtklib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1161,6 +1161,7 @@ typedef struct { /* satellite status type */
uint16_t snr_rover [NFREQ]; /* rover signal strength (0.25 dBHz) */
uint16_t snr_base [NFREQ]; /* base signal strength (0.25 dBHz) */
uint8_t fix [NFREQ]; /* ambiguity fix flag (1:float,2:fix,3:hold) */
int code[NFREQ][2]; // Current code per frequency index for the base and rover.
uint8_t slip[NFREQ]; /* cycle-slip flag */
uint8_t half[NFREQ]; /* half-cycle valid flag */
int lock [NFREQ]; /* lock counter of phase */
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24 changes: 24 additions & 0 deletions src/rtkpos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -647,6 +647,26 @@ static void udrcvbias(rtk_t *rtk, double tt)
}
}
}
// Detect a change in the observation code for a given frequency index.
// Only one bias per frequency index per satallite is supported, so if the
// observation code changes then consider it a slip.
static void detslp_code(rtk_t *rtk, const obsd_t *obs, int i, int rcv) {
int sat = obs[i].sat;
for (int f = 0; f < rtk->opt.nf; f++) {
int code = obs[i].code[f];
if (code == CODE_NONE) continue;
int ccode = rtk->ssat[sat - 1].code[f][rcv - 1];
if (code != ccode) {
rtk->ssat[sat - 1].code[f][rcv - 1] = code;
// Skip flagging a slip and emitting a message when initializing.
if (ccode != CODE_NONE) {
rtk->ssat[sat - 1].slip[f] |= LLI_SLIP;
errmsg(rtk, "slip detected, code change (sat=%3d rcv=%d F=%d code=%2d %2s to %2d %2s)\n", sat,
rcv, f, ccode, code2obs(ccode), code, code2obs(code));
}
}
}
}
/* detect cycle slip by LLI --------------------------------------------------*/
static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int i, int rcv)
{
Expand Down Expand Up @@ -795,6 +815,10 @@ static void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat,
detslp_dop(rtk,obs,ir,ns,2,nav);

for (i=0;i<ns;i++) {
// Detect cycle slip by code change.
detslp_code(rtk, obs, iu[i], 1);
detslp_code(rtk, obs, ir[i], 2);

/* detect cycle slip by LLI */
detslp_ll(rtk,obs,iu[i],1);
detslp_ll(rtk,obs,ir[i],2);
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