2024-09-28

1. GREAT-PVT ver-1.0.0

README.md

@@ -1 +1,79 @@
-# GREAT-PVT
+# GREAT-PVT: 武汉大学GREAT团队精密定位导航软件（内测版）
+
+## 概述
+
+&emsp;&emsp;GREAT (GNSS+ REsearch, Application and Teaching) 软件由武汉大学测绘学院设计开发，是一个用于空间大地测量数据处理、精密定位和定轨以及多源融合导航的综合性软件平台。<br />
+&emsp;&emsp;GREAT-PVT是GREAT软件中的一个重要模块，主要用于精密定位解算。软件中，核心计算模块使用C++语言(C++17)编写，辅助脚本模块使用Python3和C-Shell语言实现自动化数据处理。GREAT-PVT软件使用CMAKE工具进行编译管理，用户可以灵活选择GCC、Clang、MSVC等主流C++编译器。目前软件提供了Windows和Linux平台的命令行应用程序。<br />
+&emsp;&emsp;GREAT-PVT由2个可移植程序库组成，分别是LibGREAT和LibGnut。LibGREAT库主要用于PPP、RTK滤波解算，包括滤波估计中涉及的数据解码、存储以及PPP、PPP-AR、RTK算法的实现，LibGnut库来源于开源GNSS软件G-nut，包括GNSS数据的解码和存储以及基本参数配置模块。<br />
+&emsp;&emsp;GREAT-PVT软件主要特点包括：
+1. 支持GPS、GLONASS、Galileo、BDS-2/3系统 
+
+2. 支持多频PPP浮点解与固定解
+
+3. 支持无电离层组合、非差非组合PPP观测值组合方式
+
+4. 支持多频率多系统PPP浮点解与固定解
+
+5. 支持双频、单双频混合RTK解算
+
+
+&emsp;&emsp;此外，软件包还提供批处理脚本和定位结果绘图脚本，便于用户对多天数据进行解算与结果分析。
+
+## 软件包目录结构
+```shell
+GREAT-PVT_<ver>	
+  ./bin	                Windows和Linux可执行程序 *
+  ./src	                源代码 *
+    ./app	                GREAT-PVT主程序 *
+    ./LibGREAT	            PPP、PPP-AR、RTK解算库 *
+    ./LibGnut	            Gnut库 *
+    ./third-party	        第三方库 *
+  ./sample_data         算例数据 *
+    ./PPPFLT_2023304	    PPP算例 *
+    ./RTKFLT_2020351	    RTK算例 *
+  ./util	              脚本工具 *
+    ./batch_process	      PPP批处理脚本 *
+    ./plot	              画图脚本 *
+    ./poleut1	          地球定向参数生成程序 *
+  ./doc	                文档 *
+    GREAT_PPP.xml	      PPP配置文件模板 *
+    GREAT_RTK.xml	      RTK配置文件模板 *
+    GREAT-PVT_1.0.pdf	  GREAT-PVT用户指南 *
+```
+
+## 安装和使用
+
+参见GREAT-PVT_1.0.pdf
+
+## 参与贡献
+
+开发人员：
+
+武汉大学GREAT团队, Wuhan University.
+
+三方库：
+
+* GREAT-PVT使用G-Nut库(http://www.pecny.cz)
+  Copyright (C) 2011-2016 GOP - Geodetic Observatory Pecny, RIGTC.
+
+* GREAT-PVT使用pugixml库(http://pugixml.org)
+Copyright (C) 2006-2014 Arseny Kapoulkine.
+
+* GREAT-PVT使用Newmat库(http://www.robertnz.net/nm_intro.htm)
+Copyright (C) 2008: R B Davies.
+
+* GREAT-PVT使用spdlog库（https://github.com/gabime/spdlog）
+  Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
+
+* GREAT-PVT使用Eigen库（https://eigen.tuxfamily.org）
+  Copyright (C) 2008-2011 Gael Guennebaud
+
+* 脚本工具使用部分FAST源码(https://github.com/ChangChuntao/FAST)
+Copyright (C) The GNSS Center, Wuhan University & Chinese Academy of Surveying and mapping.
+
+## 下载地址
+
+GitHub：https://github.com/GREAT-WHU/GREAT-PVT
+
+欢迎加入QQ群（1009827379）参与讨论与交流。
+

doc/GREAT_PPP.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<config>
+    <gen>
+        <beg> 2024-02-09 00:00:00 </beg>    <!--> begin time <!-->
+        <end> 2024-02-09 23:59:30 </end>    <!--> end time <!-->
+        <int> 30                  </int>    <!--> sampling interval <!-->
+        <sys> GPS GAL BDS GLO     </sys>    <!--> system ex：GPS GAL GLO QZS BDS SBS <!-->
+        <rec> GODN MBAR SGOC      </rec>    <!--> site (4-char upper) <!-->
+        <est> FLT                 </est>    <!--> Estimator ：FLT <!-->
+    </gen>
+
+    <inputs>
+        <rinexo>                                                                    <!--> rinex obs file <!--> 
+            obs\GODN00USA_R_20240400000_01D_30S_MO.24o
+            obs\MBAR00UGA_R_20240400000_01D_30S_MO.24o
+            obs\SGOC00LKA_R_20240400000_01D_30S_MO.24o
+        </rinexo>
+        <rinexn>    gnss\brdc0400.24p                               </rinexn>       <!--> rinex nav file <!-->
+        <rinexc>    gnss\COD0MGXFIN_20240400000_01D_30S_CLK.CLK     </rinexc>       <!--> precise satellite clock offset file <!-->
+        <sp3>       gnss\COD0MGXFIN_20240400000_01D_05M_ORB.SP3     </sp3>          <!--> precise orbit file <!-->
+        <de>        model\jpleph_de405_great                        </de>           <!--> Planetary ephemeris file <!-->                                              
+        <atx>       model\igs20_2290.atx                            </atx>          <!--> Antenna correction file <!-->                         
+        <blq>       model\oceanload                                 </blq>          <!--> oceanload file <!-->                                  
+        <eop>       model\poleut1                                   </eop>          <!--> ERP file <!-->                                                       
+        <bias>      gnss\CAS0MGXRAP_20240400000_01D_01D_DCB.BSX     </bias>         <!--> DCB file <!-->  
+        <upd>       upd\upd_wl_2024040_GREC upd\upd_nl_2024040_GREC </upd>          <!--> uncalibrated phase delay, for fixing ambiguity <!-->                                  
+    </inputs>
+
+    <outputs append="false" verb="0">                                               <!--> output file：whether append & verb：the larger the value，the more detailed the output log. <!-->
+        <log type="CONSOLE" name="ppp" level="INFO"/>                               <!--> log file <!-->
+        <ppp> .\result\$(rec)-PPP       </ppp>                                      <!--> ppp log file <!-->
+        <flt> .\result\$(rec)-PPP.flt   </flt>                                      <!--> result file <!-->
+    </outputs>
+
+    <gps sigma_C="0.6" sigma_L="0.01">                                              <!--> GPS pseudorange sigma & phase sigma <!-->
+        <sat>                                                                       <!--> satellite prn <!-->
+            G01 G02 G03 G04 G05 G06 G07 G08 G09 G10 
+            G11 G12 G13 G14 G15 G16 G17 G18 G19 G20 
+            G21 G22 G23 G24 G25 G26 G27 G28 G29 G30
+            G31 G32
+        </sat>
+        <band> 1 2 </band>                                                          <!--> the satellite frequency, for example, C5X, is represented as 5 <!-->  
+        <freq> 1 2 </freq>                                                          <!--> satellite frequency, corresponding to band, optional value 1/2/3/4/5 <!-->
+    </gps>
+    <glo sigma_C="0.6" sigma_L="0.01">                                              <!--> GLO pseudorange sigma & phase sigma <!-->
+        <sat>
+            R01 R02 R03 R04 R05 R06 R07 R08 R09 R10 
+            R11 R12 R13 R14 R15 R16 R17 R18 R19 R20 
+            R21 R22 R23 R24 
+        </sat>
+        <band> 1 2 </band>
+        <freq> 1 2 </freq>
+    </glo>
+    <gal sigma_C="0.6" sigma_L="0.01">                                             <!--> GAL pseudorange sigma & phase sigma <!-->
+        <sat>
+            E01 E02 E03 E04 E05 E06 E07 E08 E09 E10 
+            E11 E12 E13 E14 E15 E16 E17 E18 E19 E20
+            E21 E22 E23 E24 E25 E26 E27 E28 E29 E30 
+            E31 E32 E33 E34 E35 E36
+        </sat>
+        <band> 1 5 </band>
+        <freq> 1 2 </freq>
+    </gal>
+    <bds sigma_C="0.6" sigma_L="0.01">                                             <!--> BDS pseudorange sigma & phase sigma <!-->
+        <sat>
+                                C06 C07 C08 C09 C10 
+            C11 C12 C13 C14 C15 C16 C17 C18 C19 C20 
+            C21 C22 C23 C24 C25 C26 C27 C28 C29 C30
+            C31 C32 C33 C34 C35 C36 C37 C38 C39  
+            C41 C42 C43 C44 C45 C46 
+
+        </sat>
+        <band> 2 6 </band>
+        <freq> 1 2 </freq>
+    </bds>
+    <qzs sigma_C="0.6" sigma_L="0.01">                                             <!--> QZS pseudorange sigma & phase sigma <!-->
+        <sat>
+            J01 J02 J03 J04
+        </sat>
+        <band> 1 2 </band>
+        <freq> 1 2 </freq>
+    </qzs>
+
+
+    <process>
+        <phase>                  true               </phase>                        <!--> use phase obs (true/false) <!-->
+        <tropo>                  true               </tropo>                        <!--> estimate trop param (true/false) <!-->
+        <iono>                   true               </iono>                         <!--> estimate iono param (true/false) <!-->
+        <doppler>                false              </doppler>                      <!--> use doppler obs (true/false) <!-->
+        <tropo_model>            saastamoinen       </tropo_model>                  <!--> trop model <!-->
+        <sig_init_crd>           30                 </sig_init_crd>                 <!--> initial sigma of coordinate <!-->
+        <sig_init_vel>           10                 </sig_init_vel>                 <!--> initial sigma of velocity <!-->
+        <sig_init_ztd>           10                 </sig_init_ztd>                 <!--> initial sigma of ztd <!-->
+        <sig_init_amb>           30                 </sig_init_amb>                 <!--> initial sigma of ambiguity <!-->
+        <sig_init_gal>           10                 </sig_init_gal>                 <!--> initial sigma of Galileo isb/ifb <!-->
+        <sig_init_glo>           10                 </sig_init_glo>                 <!--> initial sigma of GLONASS isb/ifb <!-->
+        <sig_init_bds>           10                 </sig_init_bds>                 <!--> initial sigma of BDS isb/ifb <!-->
+        <sig_init_vion>          100                </sig_init_vion>                <!--> initial sigma of slant iono <!-->
+        <minimum_elev>           7                  </minimum_elev>                 <!--> cut-off satellite elevation(deg) <!-->
+        <obs_combination>        RAW_ALL            </obs_combination>              <!--> obs comb type (IONO_FREE/RAW_ALL) <!-->
+        <max_res_norm>           3                  </max_res_norm>                 <!--> posterior residual threshold <!-->
+        <crd_constr>             est                </crd_constr>                   <!--> coordinate constraint method (EST/FIX/KIN) <!-->
+        <pos_kin>                false              </pos_kin>                      <!--> kinematic mode (true/false) <!-->
+        <min_sat>                5                  </min_sat>                      <!--> min satellite number <!-->
+        <obs_weight>             SINEL              </obs_weight>                   <!--> weigh model of obs <!-->
+        <bds_code_bias_corr>     true               </bds_code_bias_corr>           <!--> whether to correct BDS codeBias (true/false) <!-->
+        <slip_model>             default            </slip_model>                   <!--> cycle slip detect method <!-->
+        <frequency>              2                  </frequency>                    <!--> frequency number <!-->
+    </process>
+
+
+    <!--filter 
+        method_flt   filter method(srcf, kalman) 
+        noise_crd    noise of rec coordinate 
+        noise_vel    noise of rec velocity 
+        noise_clk    noise of rec clk 
+        noise_dclk   noise of rec dclk 
+        noise_vion   noise of iono 
+        rndwk_ztd    random walk of ztd 
+        rndwk_amb    random walk of ambiguity 
+        rndwk_glo    random walk of GLONASS isb/ifb 
+        rndwk_gal    random walk of Galileo isb/ifb 
+        rndwk_bds    random walk of BDS isb/ifb 
+        rndwk_gps    random walk of BDS ifb 
+    /-->
+    <filter
+        method_flt="srcf"  
+        noise_crd="0"  
+        noise_vel="1"  
+        noise_clk = "1000"  
+        noise_dclk="100"  
+        noise_vion="100" 
+        rndwk_ztd="6"  
+        rndwk_amb="0"  
+        rndwk_glo = "20"  
+		rndwk_gal = "20"  
+		rndwk_bds = "20"  
+		rndwk_gps = "20"  
+    />
+
+
+    <ambiguity>
+        <fix_mode>          SEARCH      </fix_mode>                                 <!--> ambiguity fixed mode (NO/SEARCH) <!-->
+        <upd_mode>          UPD         </upd_mode>                                 <!--> upd mode <!-->                                              
+        <part_fix>          YES         </part_fix>                                 <!--> part_fix (YES/NO) <!-->  
+        <part_fix_num>      4           </part_fix_num>                             <!--> threshold in partial ambiguity fixing <!-->
+        <ratio>             2.0         </ratio>                                    <!--> threshold in LAMBDA method <!-->       
+        <set_refsat>        YES         </set_refsat>                               <!--> set_refsat (YES/NO) <!-->
+        <min_common_time>   1           </min_common_time>                          <!--> minimum common time/seconds <!-->                     
+        <extra_widelane_decision maxdev = "0.07" maxsig = "0.10" alpha = "1000" />  <!--> extra widelane setting, alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+        <widelane_decision maxdev = "0.25" maxsig = "0.12" alpha = "1000" />        <!--> widelane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+        <narrowlane_decision maxdev = "0.35" maxsig = "0.12" alpha = "1000" />      <!--> narrowlane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+    </ambiguity>
+
+</config>

doc/GREAT_RTK.xml

@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> 
+<!DOCTYPE config>
+
+<config>
+ <gen>
+   <beg> "2020-12-16 07:00:00"  </beg>      <!--> begin time <!-->
+   <end> "2020-12-16 08:50:00"  </end>      <!--> end time <!-->
+   <sys > GPS  GAL  BDS         </sys>      <!--> system ex: GAL GLO QZS BDS SBS <!-->   
+   <rec>  SEPT WUDA             </rec>      <!--> site (4-char upper) <!-->
+   <base> WUDA                  </base>     <!--> base site (4-char upper) <!-->
+   <rover> SEPT                 </rover>    <!--> rover site (4-char upper) <!-->
+   <int> 1                      </int>      <!--> sampling interval <!-->
+ </gen>
+
+ <receiver> 
+    <rec id="WUDA" X="-2267761.0442"  Y="5009370.8908"  Z="3220970.5961"/>  <!--> base site coordinate <!-->
+ </receiver>
+
+ <inputs>
+   <rinexo> obs\SEPT3510.20O  obs\WUDA3510.20O  </rinexo>   <!--> rinex obs file <!--> 
+   <rinexn> gnss\brdm3510.20p                   </rinexn>   <!--> rinex nav file <!-->
+   <atx>    model\igs20_2290.atx                </atx>      <!--> Antenna correction file <!-->    
+   <blq>    model\oceanload                     </blq>      <!--> oceanload file <!--> 
+   <de>     model\jpleph_de405_great            </de>       <!--> Planetary ephemeris file <!-->   
+   <eop>    model\poleut1                       </eop>      <!--> ERP file <!-->
+ </inputs>
+
+
+ <outputs>
+   <log  type="BASIC"  level="INFO" />  <!--> log file <!-->
+   <ppp> result/$(rec)-RTK      </ppp>  <!--> RTK log file <!-->
+   <flt> result/$(rec)-RTK.flt  </flt>  <!--> result file <!-->
+ </outputs>
+
+ <process>
+  <phase>               true            </phase>                <!--> use phase obs (true/false) <!-->
+  <tropo>               false           </tropo>                <!--> estimate trop param (true/false) <!-->
+  <iono>                false           </iono>                 <!--> estimate iono param (true/false) <!-->
+  <doppler>             false           </doppler>              <!--> use doppler obs (true/false) <!-->
+  <tropo_model>         saastamoinen    </tropo_model>          <!--> trop model <!-->
+  <sig_init_crd>        30              </sig_init_crd>         <!--> initial sigma of coordinate <!-->
+  <sig_init_vel>        10              </sig_init_vel>         <!--> initial sigma of velocity <!-->
+  <sig_init_ztd>        10              </sig_init_ztd>         <!--> initial sigma of ztd <!-->
+  <sig_init_amb>        30              </sig_init_amb>         <!--> initial sigma of ambiguity <!-->
+  <sig_init_gal>        10              </sig_init_gal>         <!--> initial sigma of Galileo isb/ifb <!-->
+  <sig_init_glo>        10              </sig_init_glo>         <!--> initial sigma of GLONASS isb/ifb <!-->
+  <sig_init_bds>        10              </sig_init_bds>         <!--> initial sigma of BDS isb/ifb <!-->
+  <sig_init_vion>       100             </sig_init_vion>        <!--> initial sigma of slant iono <!-->
+  <minimum_elev>        7               </minimum_elev>         <!--> cut-off satellite elevation(deg) <!-->
+  <obs_combination>     RAW_MIX         </obs_combination>      <!--> obs comb type <!--> 
+  <max_res_norm>        3               </max_res_norm>         <!--> posterior residual threshold <!-->
+  <pos_kin>             true            </pos_kin>              <!--> kinematic mode (true/false) <!-->
+  <min_sat>             5               </min_sat>              <!--> min satellite number <!-->
+  <obs_weight>          SINEL           </obs_weight>           <!--> weigh model of obs <!-->
+  <basepos>             CFILE           </basepos>              <!--> Base station coordinate acquisition method(CFILE/spp) <!--> 
+  <bds_code_bias_corr>  true            </bds_code_bias_corr>   <!--> whether to correct BDS codeBias (true/false) <!-->
+  <slip_model>          default         </slip_model>           <!--> cycle slip detect method <!--> 
+  <frequency>           2               </frequency>            <!--> frequency number <!-->
+ </process>
+
+
+ <!--filter 
+        method_flt   filter method(srcf, kalman) 
+        noise_crd    noise of rec coordinate 
+        noise_vel    noise of rec velocity  
+        noise_dclk   noise of rec dclk 
+        rndwk_ztd    random walk of ztd 
+        rndwk_amb    time interval of ambiguity reset
+ /-->
+ <filter
+   method_flt="kalman"
+   noise_crd="30"
+   noise_vel="1"
+   noise_dclk="100"
+   rndwk_ztd="6"
+   reset_amb="0"
+ />
+
+
+ <ambiguity>      
+   <fix_mode> SEARCH </fix_mode>                                                <!--> ambiguity fixed mode (NO/SEARCH) <!-->      
+   <part_fix>  YES  </part_fix>                                                 <!--> part_fix (YES/NO) <!-->     
+   <part_fix_num>  3  </part_fix_num>                                           <!--> threshold in partial ambiguity fixing <!--> 
+   <ratio>  2.5  </ratio>                                                       <!--> threshold in LAMBDA method <!-->     
+   <min_common_time>  0  </min_common_time>                                     <!--> minimum common time/seconds <!-->         
+   <extra_widelane_decision  maxdev = "0.1" maxsig = "0.10" alpha = "1000" />   <!--> extra widelane setting, alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+   <widelane_decision     maxdev = "0.275" maxsig = "0.10" alpha = "1000" />    <!--> widelane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+   <narrowlane_decision   maxdev = "0.375" maxsig = "0.10" alpha = "1000" />    <!--> narrowlane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
+  </ambiguity>
+
+ <bds sigma_C="3" sigma_L="0.03" >                                              <!--> BDS pseudorange sigma & phase sigma <!-->
+ <freq> 1 2 </freq>                                                             <!--> the satellite frequency, for example, C5X, is represented as 5 <!-->
+ <band> 2 6 </band>                                                             <!--> satellite frequency, corresponding to band, optional value 1/2/3/4/5 <!-->
+ </bds>
+
+ <gps sigma_C="2" sigma_L="0.02" >
+  <freq> 1 2 </freq>
+  <band> 1 2 </band>
+ </gps>
+
+ <gal sigma_C="3" sigma_L="0.03" >
+  <freq> 1 2 </freq>
+  <band> 1 5 </band>
+ </gal>
+
+ <glo sigma_C="4" sigma_L="0.04" >
+  <freq> 1 2 </freq>
+  <band> 1 2 </band>
+ </glo>
+
+ <qzs sigma_C="0.6" sigma_L="0.01" >
+  <freq> 1 2 </freq>
+  <band> 1 2 </band>
+ </qzs>
+
+
+</config>
+
+