[FOSS-GPS] Give Rover coordinates in input from config_file for Static or Kinematic Relative Positioning

[elisa benedetti]

Hi,

 I'm trying to modify the RTKlib source code in order to enable the option
of giving Rover coordinates in input to rnx2rtkp from the configuration
file. Currently it is possible only for PMODE_FIXED.

This option can be useful if I already have approximate Rover coordinates
which are more accurate than the ones estimated in Single point
Positioning.

I'm just interested in post-processing for the moment. I'm using the last
version (beta) of RTKlib, imported and compiled on Visual Studio 2010.

In rtkpos.c i would make this change:

/* temporal update of position/velocity/acceleration
-------------------------*/
static void udpos(rtk_t *rtk, double tt)
{
    double *F,*FP,*xp,pos[3],Q[9]={0},Qv[9],var=0.0;
    int i,j;

    trace(3,"udpos   : tt=%.3f\n",tt);

    /* fixed mode */
    if (rtk->opt.mode==PMODE_FIXED) {
        for (i=0;i<3;i++) initx(rtk,rtk->opt.ru[i],1E-8,i);
        return;
    }
    /* initialize position for first epoch */
    if (norm(rtk->x,3)<=0.0) {
        for (i=0;i<3;i++) initx(rtk,*rtk->sol.rr[i]*,VAR_POS,i); *change to
rtk->opt.ru <http://opt.ru>[i]*
        if (rtk->opt.dynamics) {
            for (i=3;i<6;i++) initx(rtk,*rtk->sol.rr[i]*,VAR_VEL,i); *change
to rtk->opt.ru <http://opt.ru>[i]*
            for (i=6;i<9;i++) initx(rtk,1E-6,VAR_ACC,i);
        }
    }

But I don't know if it is right and sufficient. Anybody has any
suggestions/indications?


Thank you very much for your support,

 Ely
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