- Add updates from Google decimeter challenge release

- Extend iono-free option to include L1/L5
- Updates to initial phase bias estimate code2freq
- Updates to doppler based cycle slip detection
- Update Embarcadero project files for latest version of compiler
- Adjustments to trace debug messages and message levels

src/ephemeris.c

@@ -126,7 +126,7 @@ static double var_uraeph(int sys, int ura)
     }
     else { /* gps ura (ref [1] 20.3.3.3.1.1) */
         return ura<0||14<ura?SQR(6144.0):SQR(ura_value[ura]);
-}
+	}
 }
 /* variance by ura ssr (ref [10] table 3.3-1 DF389) --------------------------*/
 static double var_urassr(int ura)
@@ -256,7 +256,7 @@ extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
     r+=eph->crs*sin2u+eph->crc*cos2u;
     i+=eph->cis*sin2u+eph->cic*cos2u;
     x=r*cos(u); y=r*sin(u); cosi=cos(i);
-    
+
     /* beidou geo satellite */
     if (sys==SYS_CMP&&(prn<=5||prn>=59)) { /* ref [9] table 4-1 */
         O=eph->OMG0+eph->OMGd*tk-omge*eph->toes;
@@ -284,6 +284,8 @@ extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
 
     /* position and clock error variance */
     *var=var_uraeph(sys,eph->sva);
+    trace(4,"eph2pos: sat=%d, dts=%.10f rs=%.4f %.4f %.4f var=%.3f\n",eph->sat,
+        *dts,rs[0],rs[1],rs[2],*var);
 }
 /* glonass orbit differential equations --------------------------------------*/
 static void deq(const double *x, double *xdot, const double *acc)
@@ -418,7 +420,7 @@ extern void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts,
 
     *var=var_uraeph(SYS_SBS,seph->sva);
 }
-/* select ephememeris --------------------------------------------------------*/
+/* select ephemeris --------------------------------------------------------*/
 static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
 {
     double t,tmax,tmin;
@@ -455,7 +457,7 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
         if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */
     }
     if (iode>=0||j<0) {
-        trace(3,"no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
+        trace(2,"no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
               sat,iode);
         return NULL;
     }
@@ -807,7 +809,7 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
     }
     for (i=0;i<n&&i<2*MAXOBS;i++) {
         trace(4,"%s sat=%2d rs=%13.3f %13.3f %13.3f dts=%12.3f var=%7.3f svh=%02X\n",
-              time_str(time[i],6),obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],
+              time_str(time[i],9),obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],
               dts[i*2]*1E9,var[i],svh[i]);
     }
 }

src/pntpos.c

@@ -94,11 +94,14 @@ static double gettgd(int sat, const nav_t *nav, int type)
 /* test SNR mask -------------------------------------------------------------*/
 static int snrmask(const obsd_t *obs, const double *azel, const prcopt_t *opt)
 {
+    int f2;
+
     if (testsnr(0,0,azel[1],obs->SNR[0]*SNR_UNIT,&opt->snrmask)) {
         return 0;
     }
     if (opt->ionoopt==IONOOPT_IFLC) {
-        if (testsnr(0,1,azel[1],obs->SNR[1]*SNR_UNIT,&opt->snrmask)) return 0;
+        f2=seliflc(opt->nf,satsys(obs->sat,NULL));
+        if (testsnr(0,f2,azel[1],obs->SNR[f2]*SNR_UNIT,&opt->snrmask)) return 0;
     }
     return 1;
 }
@@ -107,12 +110,13 @@ static double prange(const obsd_t *obs, const nav_t *nav, const prcopt_t *opt,
                      double *var)
 {
     double P1,P2,gamma,b1,b2;
-    int sat,sys;
+    int sat,sys,f2;
 
     sat=obs->sat;
     sys=satsys(sat,NULL);
     P1=obs->P[0];
-    P2=obs->P[1];
+    f2=seliflc(opt->nf,satsys(obs->sat,NULL));
+    P2=obs->P[f2];
     *var=0.0;
 
     if (P1==0.0||(opt->ionoopt==IONOOPT_IFLC&&P2==0.0)) return 0.0;
@@ -124,17 +128,17 @@ static double prange(const obsd_t *obs, const nav_t *nav, const prcopt_t *opt,
     }
     if (opt->ionoopt==IONOOPT_IFLC) { /* dual-frequency */
 
-        if (sys==SYS_GPS||sys==SYS_QZS) { /* L1-L2,G1-G2 */
-            gamma=SQR(FREQL1/FREQL2);
+        if (sys==SYS_GPS||sys==SYS_QZS) { /* L1-L2 or L1-L5 */
+            gamma=f2==1?SQR(FREQL1/FREQL2):SQR(FREQL1/FREQL5);
             return (P2-gamma*P1)/(1.0-gamma);
         }
-        else if (sys==SYS_GLO) { /* G1-G2 */
-            gamma=SQR(FREQ1_GLO/FREQ2_GLO);
+        else if (sys==SYS_GLO) { /* G1-G2 or G1-G3 */
+            gamma=f2==1?SQR(FREQ1_GLO/FREQ2_GLO):SQR(FREQ1_GLO/FREQ2_GLO);
             return (P2-gamma*P1)/(1.0-gamma);
         }
-        else if (sys==SYS_GAL) { /* E1-E5b */
-            gamma=SQR(FREQL1/FREQE5b);
-            if (getseleph(SYS_GAL)) { /* F/NAV */
+        else if (sys==SYS_GAL) { /* E1-E5b, E1-E5a */
+            gamma=f2==1?SQR(FREQL1/FREQE5b):SQR(FREQL1/FREQL5);
+            if (f2==1&&getseleph(SYS_GAL)) { /* F/NAV */
                 P2-=gettgd(sat,nav,0)-gettgd(sat,nav,1); /* BGD_E5aE5b */
             }
             return (P2-gamma*P1)/(1.0-gamma);
@@ -337,7 +341,7 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
         else if (sys==SYS_QZS) {v[nv]-=x[8]; H[8+nv*NX]=1.0; mask[5]=1;}
 #endif
         else mask[0]=1;
-        
+
         vsat[i]=1; resp[i]=v[nv]; (*ns)++;
 
         /* variance of pseudorange error */
@@ -398,9 +402,9 @@ static int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
     v=mat(n+4,1); H=mat(NX,n+4); var=mat(n+4,1);
 
     for (i=0;i<3;i++) x[i]=sol->rr[i];
-    
+
     for (i=0;i<MAXITR;i++) {
-        
+
         /* pseudorange residuals (m) */
         nv=rescode(i,obs,n,rs,dts,vare,svh,nav,x,opt,ssat,v,H,var,azel,vsat,resp,
                    &ns);
@@ -409,7 +413,7 @@ static int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
             sprintf(msg,"lack of valid sats ns=%d",nv);
             break;
         }
-        /* weighted by Std */
+        /* weight by variance (lsq uses sqrt of weight */
         for (j=0;j<nv;j++) {
             sig=sqrt(var[j]);
             v[j]/=sig;
@@ -472,7 +476,7 @@ static int raim_fde(const obsd_t *obs, int n, const double *rs,
 
     for (i=0;i<n;i++) {
 
-        /* satellite exclution */
+        /* satellite exclusion */
         for (j=k=0;j<n;j++) {
             if (j==i) continue;
             obs_e[k]=obs[j];
@@ -585,8 +589,6 @@ static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts
     double err=opt->err[4]; /* Doppler error (Hz) */
     int i,j,nv;
 
-    trace(3,"estvel  : n=%d\n",n);
-
     v=mat(n,1); H=mat(4,n);
 
     for (i=0;i<MAXITR;i++) {
@@ -601,6 +603,7 @@ static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts
         for (j=0;j<4;j++) x[j]+=dx[j];
 
         if (norm(dx,4)<1E-6) {
+            trace(3,"estvel : vx=%.3f vy=%.3f vz=%.3f, n=%d\n",x[0],x[1],x[2],n);
             matcpy(sol->rr+3,x,3,1);
             sol->qv[0]=(float)Q[0];  /* xx */
             sol->qv[1]=(float)Q[5];  /* yy */
@@ -664,7 +667,7 @@ extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
     /* satellite positons, velocities and clocks */
     satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
 
-    /* estimate receiver position with pseudorange */
+    /* estimate receiver position and time with pseudorange */
     stat=estpos(obs,n,rs,dts,var,svh,nav,&opt_,ssat,sol,azel_,vsat,resp,msg);
 
     /* RAIM FDE */

src/postpos.c

@@ -500,7 +500,7 @@ static int valcomb(const sol_t *solf, const sol_t *solb)
     }
     return 1;
 }
-/* combine forward/backward solutions and output results ---------------------*/
+/* combine forward/backward solutions and save results ---------------------*/
 static void combres(FILE *fp, FILE *fptm, const prcopt_t *popt, const solopt_t *sopt)
 {
     gtime_t time={0};
@@ -933,7 +933,7 @@ static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs,
         if (!(satsys(i+1,NULL)&popt->navsys)) continue;
         if (!(pcv=searchpcv(i+1,"",time,pcvs))) {
             satno2id(i+1,id);
-            trace(3,"no satellite antenna pcv: %s\n",id);
+            trace(4,"no satellite antenna pcv: %s\n",id);
             continue;
         }
         nav->pcvs[i]=*pcv;

src/rinex.c

@@ -1011,7 +1011,7 @@ static void set_index(double ver, int sys, const char *opt,
     /* list rejected observation types */
     for (i=0;i<n;i++) {
         if (!ind->code[i]||!ind->pri[i]||ind->pos[i]>=0) continue;
-        trace(3,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]);
+        trace(4,"reject obs type: sys=%2d, obs=%s\n",sys,tobs[i]);
     }
     ind->n=n;
 
@@ -1153,7 +1153,7 @@ static int decode_eph(double ver, int sat, gtime_t toc, const double *data,
     sys=satsys(sat,NULL);
 
     if (!(sys&(SYS_GPS|SYS_GAL|SYS_QZS|SYS_CMP|SYS_IRN))) {
-        trace(3,"ephemeris error: invalid satellite sat=%2d\n",sat);
+        trace(4,"ephemeris error: invalid satellite sat=%2d\n",sat);
         return 0;
     }
     *eph=eph0;
@@ -1263,7 +1263,7 @@ static int decode_geph(double ver, int sat, gtime_t toc, double *data,
     trace(4,"decode_geph: ver=%.2f sat=%2d\n",ver,sat);
 
     if (satsys(sat,NULL)!=SYS_GLO) {
-        trace(3,"glonass ephemeris error: invalid satellite sat=%2d\n",sat);
+        trace(4,"glonass ephemeris error: invalid satellite sat=%2d\n",sat);
         return 0;
     }
     *geph=geph0;
@@ -1318,7 +1318,7 @@ static int decode_seph(double ver, int sat, gtime_t toc, double *data,
     trace(4,"decode_seph: ver=%.2f sat=%2d\n",ver,sat);
 
     if (satsys(sat,NULL)!=SYS_SBS) {
-        trace(3,"geo ephemeris error: invalid satellite sat=%2d\n",sat);
+        trace(4,"geo ephemeris error: invalid satellite sat=%2d\n",sat);
         return 0;
     }
     *seph=seph0;

src/rtkcmn.c

@@ -3699,6 +3699,11 @@ extern double ionppp(const double *pos, const double *azel, double re,
     }
     return 1.0/sqrt(1.0-rp*rp);
 }
+/* select iono-free linear combination (L1/L2 or L1/L5) ----------------------*/
+extern int seliflc(int optnf,int sys)
+{
+    return((optnf==2||sys==SYS_GLO||sys==SYS_CMP)?1:2);
+}
 /* troposphere model -----------------------------------------------------------
 * compute tropospheric delay by standard atmosphere and saastamoinen model
 * args   : gtime_t time     I   time

src/rtklib.h

@@ -1163,7 +1163,6 @@ typedef struct {        /* RTK control/result type */
     int nfix;           /* number of continuous fixes of ambiguity */
     int excsat;         /* index of next satellite to be excluded for partial ambiguity resolution */
     int nb_ar;          /* number of ambiguities used for AR last epoch */
-	double com_bias;    /* phase bias common between all sats (used to be distributed to all sats */
     char holdamb;       /* set if fix-and-hold has occurred at least once */
     ambc_t ambc[MAXSAT]; /* ambiguity control */
     ssat_t ssat[MAXSAT]; /* satellite status */
@@ -1482,6 +1481,7 @@ EXPORT int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
                     const double *azel, int ionoopt, double *ion, double *var);
 EXPORT int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
                     const double *azel, int tropopt, double *trp, double *var);
+EXPORT int seliflc(int optnf, int sys);
 
 /* antenna models ------------------------------------------------------------*/
 EXPORT int  readpcv(const char *file, pcvs_t *pcvs);