[FOSS-GPS] Single positioning in pntpos.c

[nkvu]

Hi everybody, I am trying to understand code in RTKLib, I have a problem
about pntpos.c when I choose Single mode, that is* estpos* function:

/* estimate receiver position
------------------------------------------------*/
static int estpos(const obsd_t *obs, int n, const double *rs, const double
*dts,
                  const double *vare, const int *svh, const nav_t *nav,
                  const prcopt_t *opt, sol_t *sol, double *azel, int *vsat,
                  double *resp, char *msg)
{
    double x[5]={0},dx[5],Q[25],*v,*H,*var,sig;
    int i,j,k,info,stat,nx,nv;
    
    trace(3,"estpos  : n=%d\n",n);
    
    v=mat(n,1); H=mat(5,n); var=mat(n,1);
    
   * for (i=0;i<3;i++) x[i]=sol->rr[i];*
    
    for (i=0;i<MAXITR;i++) {
        
        /* pseudorange residuals */
       
nv=rescode(i,obs,n,rs,dts,vare,svh,nav,x,opt,v,H,var,azel,vsat,resp,&nx);
        
</nabble_embed>
I think we want to calculate rr[] (position of rover), so, why we have
statement here: *for (i=0;i<3;i++) x[i]=sol->rr[i];*

Anybody help me? thanks so much!



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