RTKLIB源码调试.trace文件解析&.stat文件解析

布满荆棘的人生 2023-02-14 15:40 4阅读 0赞

.trace文件是调试文件，帮助用户在程序、输入数据时，进行分析的一个很好的提示！

.trace文件的生成、trace文件内容的生成，均在execses中！

以单点定位为例，大体流程为：

*  生成.trace文件：raceopen(tracefile); //开始对 trace文件进行写处理
 *  读取观测文件、导航文件，将调试信息放入.trace文件中；

/\* read obs and nav data \*/  
if (!readobsnav(ts,te,ti,infile,index,n,&popt\_,&obss,&navs,stas)) return 0;

*  生成解决方案文件/日志流：open solution status file

/\* open solution statistics \*/  
if (flag&&sopt->sstat>0) \{ /\* solution statistics level (0:off,1:states,2:residuals) \*/  
strcpy(statfile,outfile);  
strcat(statfile,".stat");  
rtkclosestat();  
rtkopenstat(statfile,sopt->sstat);  
\}

# 一、设置trace/debug 1-5 #

在Visual Studio中修改、调试代码时，如下设置：

sopt.trace = 5; /\* debug trace level (0:off,1-5:debug) \*/

单基站、移动站等数据作为输入时，.trace文件的生成是：

/* execute processing session ------------------------------------------------*/
    static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
                       const solopt_t *sopt, const filopt_t *fopt, int flag,
                       char **infile, const int *index, int n, char *outfile)
    {
        FILE *fp;
        prcopt_t popt_=*popt;
        char tracefile[1024],statfile[1024],path[1024],*ext;
        
        trace(3,"execses : n=%d outfile=%s\n",n,outfile);
        
        /* open debug trace */
        if (flag&&sopt->trace>0) {
            if (*outfile) {
                strcpy(tracefile,outfile);
                strcat(tracefile,".trace"); //输出文件名，后加.trace
            }
            else {
                strcpy(tracefile,fopt->trace);
            }
            traceclose(); //关闭记录文件
            traceopen(tracefile); //开始对 trace文件进行写处理
            tracelevel(sopt->trace); //读取调试等级
        } //以上执行完后，.trace文件为空
        /* read ionosphere data file */
    	//目前的输入文件中，文件输入为：filopt_t fopt = { 0 };  
        if (*fopt->iono&&(ext=strrchr(fopt->iono,'.'))) {
            if (strlen(ext)==4&&(ext[3]=='i'||ext[3]=='I')) {
                reppath(fopt->iono,path,ts,"","");
                readtec(path,&navs,1);
            }
        }
        /* read erp data */
        if (*fopt->eop) {
            free(navs.erp.data); navs.erp.data=NULL; navs.erp.n=navs.erp.nmax=0;
            reppath(fopt->eop,path,ts,"","");
            if (!readerp(path,&navs.erp)) {
                showmsg("error : no erp data %s",path);
                trace(2,"no erp data %s\n",path);
            }
        }
        /* read obs and nav data */
        if (!readobsnav(ts,te,ti,infile,index,n,&popt_,&obss,&navs,stas)) return 0;
        
        /* read dcb parameters */
        if (*fopt->dcb) {
            reppath(fopt->dcb,path,ts,"","");
            readdcb(path,&navs,stas);
        }
        /* set antenna paramters 设置天线参数*/
        if (popt_.mode!=PMODE_SINGLE) {
            setpcv(obss.n>0?obss.data[0].time:timeget(),&popt_,&navs,&pcvss,&pcvsr,
                   stas);
        }
        /* read ocean tide loading parameters 设置潮汐参数*/
        if (popt_.mode>PMODE_SINGLE&&*fopt->blq) {
            readotl(&popt_,fopt->blq,stas);
        }
        /* rover/reference fixed position 获取基准站坐标*/
        if (popt_.mode==PMODE_FIXED) {
            if (!antpos(&popt_,1,&obss,&navs,stas,fopt->stapos)) {
                freeobsnav(&obss,&navs);
                return 0;
            }
        }
    	/*定位模式：PMODE_DGPS PMODE_KINEMA  PMODE_STATIC */
        else if (PMODE_DGPS<=popt_.mode&&popt_.mode<=PMODE_STATIC) {
            if (!antpos(&popt_,2,&obss,&navs,stas,fopt->stapos)) {
                freeobsnav(&obss,&navs);
                return 0;
            }
        }
        /* open solution statistics */
        if (flag&&sopt->sstat>0) { /* solution statistics level (0:off,1:states,2:residuals) */
            strcpy(statfile,outfile);
            strcat(statfile,".stat");
            rtkclosestat();
            rtkopenstat(statfile,sopt->sstat);
        }
        /* write header to output file */
        if (flag&&!outhead(outfile,infile,n,&popt_,sopt)) {
            freeobsnav(&obss,&navs);
            return 0;
        }
        iobsu=iobsr=isbs=ilex=revs=aborts=0;
        
        if (popt_.mode==PMODE_SINGLE||popt_.soltype==0) {//在kinematic模式下，如果前向处理则进行单点定位
            if ((fp=openfile(outfile))) {
                procpos(fp,&popt_,sopt,0); /* forward前向处理 */
                fclose(fp);
            }
        }
        else if (popt_.soltype==1) {
            if ((fp=openfile(outfile))) {
                revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
                procpos(fp,&popt_,sopt,0); /* backward */
                fclose(fp);
            }
        }
        else { /* combined */
            solf=(sol_t *)malloc(sizeof(sol_t)*nepoch);
            solb=(sol_t *)malloc(sizeof(sol_t)*nepoch);
            rbf=(double *)malloc(sizeof(double)*nepoch*3);
            rbb=(double *)malloc(sizeof(double)*nepoch*3);
            
            if (solf&&solb) {
                isolf=isolb=0;
                procpos(NULL,&popt_,sopt,1); /* forward */
                revs=1; iobsu=iobsr=obss.n-1; isbs=sbss.n-1; ilex=lexs.n-1;
                procpos(NULL,&popt_,sopt,1); /* backward */
                
                /* combine forward/backward solutions */
                if (!aborts&&(fp=openfile(outfile))) {
                    combres(fp,&popt_,sopt);
                    fclose(fp);
                }
            }
            else showmsg("error : memory allocation");
            free(solf);
            free(solb);
            free(rbf);
            free(rbb);
        }
        /* free obs and nav data */
        freeobsnav(&obss,&navs);
        
        return aborts?1:0;
    }

# 二、trace文件说明：位于execses函数中 #

以单点定位为例，即输入两个文件，分别为：观测文件、导航文件；

首先读取观测文件，在trace中相关信息如下：

## 1、函数readobsnav，输出第一条trace信息： ##

在readobsnav中，循环读取观测文件、导航文件；先读取观测文件……

### ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70][] ###

### 1.1、函数readrnxt中，trace中显示输入观测文件路径和接收机数量 ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 1][]

### 1.2、readrnxh为读取Rinex文件头的信息，进入readrnxh程序，输出信息：**3 readrnxh:** ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 2][]

**其中，trace中每一行的开头都标记有函数信息，即调用时间顺序！**

### 1.3、decode\_obsh为读取Rinex文件头的信息，每次读取一行，进入decode\_obsh程序，输出一行信息： ###

**4 decode\_obsh: ver=3.03**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 3][] 示意如下：

3 readobsnav: ts=2019/04/01 00:00:00 n=2
    3 readrnxt: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_30S_MO.rnx rcv=1
    3 expath  : path=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_30S_MO.rnx nmax=1024
    3 expath  : file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_30S_MO.rnx
    3 readrnxfile: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_30S_MO.rnx flag=0 index=1
    3 rtk_uncompress: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_30S_MO.rnx
    3 rtk_uncompress: stat=0
    3 readrnxfp: flag=0 index=1
    3 readrnxh:
    4 decode_obsh: ver=3.03
    4 decode_obsh: ver=3.03
    4 decode_obsh: ver=3.03
    4 decode_obsh: ver=3.03
    4 decode_obsh: ver=3.03
    4 decode_obsh: ver=3.03
    忽略重复的数据，此图仅仅是示意

### 1.4、读取观测文件body， ###

函数: readrnxobs;

然后输出：**readrnxobs: rcv=1 ver=3.03 tsys=13830824**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 4][]

**4.1 readrnxobsb**

然后进入函数：readrnxobsb 中，首先实现的功能是将 读取观测文件头时保存的观测类型/OBS TYPES，从变量

tobs变为index, 在具体实现时：

1、设置了每一个系统观测类型频率的优先级；

2、每一个频率只保留优先级最高的数据；（扔掉的数据在trace中出现，如下）

readrnxobs: rcv=1 ver=3.03 tsys=13830824
    4 reject obs type: sys= 1, obs=C2X
    4 reject obs type: sys= 1, obs=D2X
    4 reject obs type: sys= 1, obs=L2X
    4 reject obs type: sys= 1, obs=S2X
    4 reject obs type: sys= 4, obs=C1C
    4 reject obs type: sys= 4, obs=C2C
    4 reject obs type: sys= 4, obs=D1C
    4 reject obs type: sys= 4, obs=D2C
    4 reject obs type: sys= 4, obs=L1C
    4 reject obs type: sys= 4, obs=L2C
    4 reject obs type: sys= 4, obs=S1C
    4 reject obs type: sys= 4, obs=S2C
    4 reject obs type: sys= 8, obs=C7X
    4 reject obs type: sys= 8, obs=C8X
    4 reject obs type: sys= 8, obs=D7X
    4 reject obs type: sys= 8, obs=D8X
    4 reject obs type: sys= 8, obs=L7X
    4 reject obs type: sys= 8, obs=L8X
    4 reject obs type: sys= 8, obs=S7X
    4 reject obs type: sys= 8, obs=S8X
    4 reject obs type: sys=16, obs=C1X
    4 reject obs type: sys=16, obs=C1Z
    4 reject obs type: sys=16, obs=C6L
    4 reject obs type: sys=16, obs=D1X
    4 reject obs type: sys=16, obs=D1Z
    4 reject obs type: sys=16, obs=D6L
    4 reject obs type: sys=16, obs=L1X
    4 reject obs type: sys=16, obs=L1Z
    4 reject obs type: sys=16, obs=L6L
    4 reject obs type: sys=16, obs=S1X
    4 reject obs type: sys=16, obs=S1Z
    4 reject obs type: sys=16, obs=S6L

附：频率优先级：

static char codepris[7][MAXFREQ][16]={  /* code priority table */
       
       /* L1/E1      L2/B1        L5/E5a/L3 E6/LEX/B3 E5b/B2    E5(a+b)  S */
        {"CPYWMNSL","PYWCMNDSLX","IQX"     ,""       ,""       ,""      ,""    }, /* GPS */
        {"PC"      ,"PC"        ,"IQX"     ,""       ,""       ,""      ,""    }, /* GLO */
        {"CABXZ"   ,""          ,"IQX"     ,"ABCXZ"  ,"IQX"    ,"IQX"   ,""    }, /* GAL */
        {"CSLXZ"   ,"SLX"       ,"IQX"     ,"SLX"    ,""       ,""      ,""    }, /* QZS */
        {"C"       ,""          ,"IQX"     ,""       ,""       ,""      ,""    }, /* SBS */
        {"IQX"     ,"IQX"       ,"IQX"     ,"IQX"    ,"IQX"    ,""      ,""    }, /* BDS */
        {""        ,""          ,"ABCX"    ,""       ,""       ,""      ,"ABCX"}  /* IRN */
    };

RTKLIB Manual中描述：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 5][]

从函数readrnxobsb中，开始循环读取每一个历元的观测数据：

### 1.5、解码decode\_obsepoch ###

decode\_obsepoch

首先 读取此历元的观测卫星数目，并在trace中输出：分别为进入函数和结束函数时的输出！

**4 decode\_obsepoch: ver=3.03**

**4 decode\_obsepoch: time=2019/04/01 00:00:00.000 flag=0**

**然后开始对每历元中卫星相关数据进行读取：函数为**decode\_obsdata；读取每行时，输出信息：

4 decode\_obsdata: ver=3.03  
4 decode\_obsdata: time=2019/04/01 00:00:00 sat=97 //此时的sat是各个卫星系统累加值

**循环用decode\_obsdata读取，以上两条信息重复显示，最终如下：**

4 decode_obsepoch: ver=3.03
    4 decode_obsepoch: time=2019/04/01 00:00:00.000 flag=0
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=97
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=98
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=99
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=100
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=101
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=102
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=103
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=104
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=106
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=109
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=114
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=61
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=63
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=64
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=68
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=70
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=73
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=84
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=89
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: unsupported sat sat=E36
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=10
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=15
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=16
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=20
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=21
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=25
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=26
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=27
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=29
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=31
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=90
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=91
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=92
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=37
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=38
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=39
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=42
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=43
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=44
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=45
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=53
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=54
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=55
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=146
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=147
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=148
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=149
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=151
    4 decode_obsdata: ver=3.03
    4 decode_obsdata: time=2019/04/01 00:00:00 sat=156
    4 reject obs type: sys= 1, obs=C2X
    4 reject obs type: sys= 1, obs=D2X
    4 reject obs type: sys= 1, obs=L2X
    4 reject obs type: sys= 1, obs=S2X
    4 reject obs type: sys= 4, obs=C1C
    4 reject obs type: sys= 4, obs=C2C
    4 reject obs type: sys= 4, obs=D1C
    4 reject obs type: sys= 4, obs=D2C
    4 reject obs type: sys= 4, obs=L1C
    4 reject obs type: sys= 4, obs=L2C
    4 reject obs type: sys= 4, obs=S1C
    4 reject obs type: sys= 4, obs=S2C
    4 reject obs type: sys= 8, obs=C7X
    4 reject obs type: sys= 8, obs=C8X
    4 reject obs type: sys= 8, obs=D7X
    4 reject obs type: sys= 8, obs=D8X
    4 reject obs type: sys= 8, obs=L7X
    4 reject obs type: sys= 8, obs=L8X
    4 reject obs type: sys= 8, obs=S7X
    4 reject obs type: sys= 8, obs=S8X
    4 reject obs type: sys=16, obs=C1X
    4 reject obs type: sys=16, obs=C1Z
    4 reject obs type: sys=16, obs=C6L
    4 reject obs type: sys=16, obs=D1X
    4 reject obs type: sys=16, obs=D1Z
    4 reject obs type: sys=16, obs=D6L
    4 reject obs type: sys=16, obs=L1X
    4 reject obs type: sys=16, obs=L1Z
    4 reject obs type: sys=16, obs=L6L
    4 reject obs type: sys=16, obs=S1X
    4 reject obs type: sys=16, obs=S1Z
    4 reject obs type: sys=16, obs=S6L
    4 decode_obsepoch: ver=3.03
    4 decode_obsepoch: time=2019/04/01 00:00:30.000 flag=0

循环读取每一个历元数据，最后读取完成；

在readrnxobs函数最后，**trace(4,"readrnxobs: nobs=%d stat=%d\\n",obs->n,stat);**

4 readrnxobs: nobs=5800 stat=1

总的观测数：即有多少个历元！

读取完之后，回到readrnxt函数中，

然后回到readobsnav函数中，进行读取下一个文件，即导航文件！

**如果是相对定位，输入两个观测文件，先读移动站观测文件、接着读基准站观测文件：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 6][]

紧接着读取导航电文：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 7][]

### 2.1、函数readrnxt中，trace中显示输入导航文件路径和接收机数量 ###

.trace文件中

![20200603181407403.png][]

**开始进行导航文件读取：**

### 2.2、再一次进入readrnxfile中： ###

4 readrnxobs: nobs=5800 stat=1
    3 readrnxt: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_MN.rnx rcv=2
    3 expath  : path=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_MN.rnx nmax=1024
    3 expath  : file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_MN.rnx
    3 readrnxfile: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_MN.rnx flag=0 index=2
    3 rtk_uncompress: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\CUT000AUS_R_20190910000_01D_MN.rnx
    3 rtk_uncompress: stat=0

### 2.3、进入readrnxfp函数中： ###

3 readrnxfp: flag=0 index=2

**2.3.1、进入readrnxh函数中：**

在标识“N”中，进入decode\_navh中，trace显示：

3 readrnxfp: flag=0 index=2
    3 readrnxh:
    4 decode_navh:

**2.3.2****、进入readrnxnav函数中：**

3 readrnxh:
    4 decode_navh:
    3 readrnxnav: ver=3.00 sys=0

**2.3.2.1、 进入readrnxnavb函数中：**

3 readrnxh:
    4 decode_navh:
    3 readrnxnav: ver=3.00 sys=0
    4 readrnxnavb: ver=3.00 sys=0

decode\_eph函数，解码星历：

3 readrnxh:
    4 decode_navh:
    3 readrnxnav: ver=3.00 sys=0
    4 readrnxnavb: ver=3.00 sys=0
    4 decode_eph: ver=3.00 sat= 1

**readrnxnavb函数一直读取导航文件的每颗卫星星历，并把它添加到对应卫星系统的星历结构体中。**

while ((stat=readrnxnavb(fp,opt,ver,sys,&type,&eph,&geph,&seph))>=0) {
            
            /* add ephemeris to navigation data */
            if (stat) {
                switch (type) { //type来判断哪一个卫星系统的星历
                    case 1 : stat=add_geph(nav,&geph); break;
                    case 2 : stat=add_seph(nav,&seph); break;
                    default: stat=add_eph (nav,&eph ); break;
                }
                if (!stat) return 0;
            }
        }

trace文件中，显示如下：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 8][]

最后返回到readobsnav函数中；

执行 观测文件排序、删除重复星历两个函数：

/* sort observation data */
        nepoch=sortobs(obs);
        
        /* delete duplicated ephemeris */
        uniqnav(nav);

.trace中为：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 9][]

## 2、生成日志流文件/.stat ##

读取完观测文件和导航文件后，返回到 execses函数继续运行，如果在配置中打开了“解决方案文件/日志流文件”，则生成后缀为.stat的文件；同时.trace有如下信息输出：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 10][]

### 2.1、生成结果文件/.pos ###

/* write header to output file -----------------------------------------------*/
    static int outhead(const char *outfile, char **infile, int n,
                       const prcopt_t *popt, const solopt_t *sopt)
    {
        FILE *fp=stdout;
        
        trace(3,"outhead: outfile=%s n=%d\n",outfile,n);
        
        if (*outfile) {
            createdir(outfile);
            
            if (!(fp=fopen(outfile,"w"))) {
                showmsg("error : open output file %s",outfile);
                return 0;
            }
        }
        /* output header */
        outheader(fp,infile,n,popt,sopt);
        
        if (*outfile) fclose(fp);
        
        return 1;
    }

并输出结果文件，文件头（如果你设置了输出文件头）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 11][]

### 2.2、初始化rtkinit ###

rtkinit(&rtk,popt);

3 rtkclosestat:
    3 rtkopenstat: file=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\myposbyVS.pos.stat level=1
    3 outhead: outfile=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\myposbyVS.pos n=2
    3  1370.658: createdir: path=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\myposbyVS.pos
    3 outheader: n=2
    3 outprcopt:
    3 outprcopts:
    3 outsolhead:
    3 outsolheads:
    3 openfile: outfile=E:\专业资料\网友交流\Curtin GNSS Research Centre\CUT00\myposbyVS.pos
    3 procpos : mode=0
    3 rtkinit :

**不太明白的地方？**

/* input obs data, navigation messages and sbas correction -------------------*/
    static int inputobs(obsd_t *obs, int solq, const prcopt_t *popt)
    {
        gtime_t time={0};
        int i,nu,nr,n=0;
        
        trace(3,"infunc  : revs=%d iobsu=%d iobsr=%d isbs=%d\n",revs,iobsu,iobsr,isbs);
        
        if (0<=iobsu&&iobsu<obss.n) {
            settime((time=obss.data[iobsu].time));
            if (checkbrk("processing : %s Q=%d",time_str(time,0),solq)) {
                aborts=1; showmsg("aborted"); return -1;
            }
        }
        if (!revs) { /* input forward data */ /* analysis direction (0:forward,1:backward) */
            if ((nu=nextobsf(&obss,&iobsu,1))<=0) return -1; //nu 为移动站历元观测卫星数
            if (popt->intpref) { ///* interpolate reference obs (for post mission) */ 0
                for (;(nr=nextobsf(&obss,&iobsr,2))>0;iobsr+=nr)
                    if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)>-DTTOL) break;
            }
            else {
                for (i=iobsr;(nr=nextobsf(&obss,&i,2))>0;iobsr=i,i+=nr)//nr 为基准站历元观测微型数
                    if (timediff(obss.data[i].time,obss.data[iobsu].time)>DTTOL) break;
            }
            nr=nextobsf(&obss,&iobsr,2);
            if (nr<=0) {
                nr=nextobsf(&obss,&iobsr,2);
            }
            for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu+i];
            for (i=0;i<nr&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsr+i];
            iobsu+=nu;
            
            /* update sbas corrections */
            while (isbs<sbss.n) {
                time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
                
                if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
                    sbsupdatecorr(sbss.msgs+isbs,&navs);
                }
                if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
                isbs++;
            }
            /* update lex corrections */
            while (ilex<lexs.n) {
                if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
                    if (timediff(time,obs[0].time)>-1.0-DTTOL) break;
                }
                ilex++;
            }
            /* update rtcm ssr corrections */
            if (*rtcm_file) {
                update_rtcm_ssr(obs[0].time);
            }
        }
        else { /* input backward data */
            if ((nu=nextobsb(&obss,&iobsu,1))<=0) return -1;
            if (popt->intpref) {
                for (;(nr=nextobsb(&obss,&iobsr,2))>0;iobsr-=nr)
                    if (timediff(obss.data[iobsr].time,obss.data[iobsu].time)<DTTOL) break;
            }
            else {
                for (i=iobsr;(nr=nextobsb(&obss,&i,2))>0;iobsr=i,i-=nr)
                    if (timediff(obss.data[i].time,obss.data[iobsu].time)<-DTTOL) break;
            }
            nr=nextobsb(&obss,&iobsr,2);
            for (i=0;i<nu&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsu-nu+1+i];
            for (i=0;i<nr&&n<MAXOBS*2;i++) obs[n++]=obss.data[iobsr-nr+1+i];
            iobsu-=nu;
            
            /* update sbas corrections */
            while (isbs>=0) {
                time=gpst2time(sbss.msgs[isbs].week,sbss.msgs[isbs].tow);
                
                if (getbitu(sbss.msgs[isbs].msg,8,6)!=9) { /* except for geo nav */
                    sbsupdatecorr(sbss.msgs+isbs,&navs);
                }
                if (timediff(time,obs[0].time)<1.0+DTTOL) break;
                isbs--;
            }
            /* update lex corrections */
            while (ilex>=0) {
                if (lexupdatecorr(lexs.msgs+ilex,&navs,&time)) {
                    if (timediff(time,obs[0].time)<1.0+DTTOL) break;
                }
                ilex--;
            }
        }
        return n;
    }

### 2.3、if (!rtkpos(&rtk,obs,n,&navs)) continue; ###

输出当前历元观测数据：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 12][]

traceobs(4,obs,n) 具体实现如下：

extern void traceobs(int level, const obsd_t *obs, int n)
    {
        char str[64],id[16];
        int i;
        
        if (!fp_trace||level>level_trace) return;
        for (i=0;i<n;i++) {
            time2str(obs[i].time,str,3);
            satno2id(obs[i].sat,id);
            fprintf(fp_trace," (%2d) %s %-3s rcv%d %13.3f %13.3f %13.3f %13.3f %d %d %d %d %3.1f %3.1f\n",
                  i+1,str,id,obs[i].rcv,obs[i].L[0],obs[i].L[1],obs[i].P[0],
                  obs[i].P[1],obs[i].LLI[0],obs[i].LLI[1],obs[i].code[0],
                  obs[i].code[1],obs[i].SNR[0]*0.25,obs[i].SNR[1]*0.25);
        }
        fflush(fp_trace);
    }

输出的顺序为：

（序号）、时间、卫星号、rcv1?2、载波相位1、载波相位2、伪距1、伪距2、LLI1标识、LLI2标识、频率1的obscodes顺序、频率2的obscodes顺序、信噪比1\*0.25、信噪比2\*0.25

示例如下：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 13][]

### **2.3.1、pntpos** ###

**1、单点定位之卫星位置、速度、钟差；.trace输出**

单点定位中，首先计算卫星位置、速度、钟差；

(1)先计算卫星钟差；包括遍历星历，选择星历；

(2)计算卫星位置；包括查找对应卫星导航系统，解码星历；遍历星历，选择星历；

(3)再次计算卫星位置；用于计算卫星速度；

.trace中的输出为：不断循环

3 satposs : teph=2019/04/01 00:00:00.000 n=10 ephopt=0
    4 ephclk  : time=2019/03/31 23:59:59.924 sat=10
    4 seleph  : time=2019/04/01 00:00:00.000 sat=10 iode=-1
    4 eph2clk : time=2019/03/31 23:59:59.924 sat=10
    4 satpos  : time=2019/03/31 23:59:59.924 sat=10 ephopt=0
    4 ephpos  : time=2019/03/31 23:59:59.924 sat=10 iode=-1
    4 seleph  : time=2019/04/01 00:00:00.000 sat=10 iode=-1
    4 eph2pos : time=2019/03/31 23:59:59.924 sat=10
    4 kepler: sat=10 e= 0.00446 n= 3 del= 0.000e+00
    4 eph2pos : time=2019/03/31 23:59:59.925 sat=10
    4 kepler: sat=10 e= 0.00446 n= 3 del= 0.000e+00

(4)输出卫星相关信息：顺序为：

卫星发射信号时间、卫星号、卫星ECEF下X、Y、Z位置、卫星钟差/m、卫星星历、钟差方差（sat position and clock error variances (m^2)）、卫星健康信息（sat health flag (-1:correction not available)）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 14][]

**2、单点定位之利用伪距计算接收机位置；.trace输出**

实现函数：estpos

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)

（1）首先计算伪距残差：rescode

/\* pseudorange residuals \*/ //ns 为参与定位的卫星的个数  
nv=rescode(i,obs,n,rs,dts,vare,svh,nav,x,opt,v,H,var,azel,vsat,resp,  
&ns);

在rescode函数中，输出大部分信息，信息的输出与设置有关：

> 首先输出： trace(3,"resprng : n=%d\\n",n);
> 
> 然后 : while(卫星个数)
> 
> \{
> 
> 4 ionocorr: time=2019/04/01 00:00:00.000 opt=1 sat=10 pos=-90.000 0.000 azel=0.000 90.000  
> 4 tropcorr: time=2019/04/01 00:00:00.000 opt=1 pos=-90.000 0.000 azel=0.000 90.000  
> 4 sat=10 azel= 0.0 90.0 res=-3608726.259 sig=2.471  
> 4 ionocorr: time=2019/04/01 00:00:00.000 opt=1 sat=15 pos=-90.000 0.000 azel=0.000 90.000  
> 4 tropcorr: time=2019/04/01 00:00:00.000 opt=1 pos=-90.000 0.000 azel=0.000 90.000  
> 4 sat=15 azel= 0.0 90.0 res=-1565446.211 sig=2.471
> 
> 注释：trace(4,"sat=%2d azel=%5.1f %4.1f res=%7.3f sig=%5.3f\\n",obs\[i\].sat,  
> azel\[i\*2\]\*R2D,azel\[1+i\*2\]\*R2D,resp\[i\],sqrt(var\[nv-1\]));  
> 信息为：方位角、高度角、伪距残差、标准差
> 
> \}；

同时在，estpos中，对单点定位有一个迭代计算的过程：

**for (i=0;i<MAXITR;i++)**

**\{**

**循环输出2.3.2；直到每次迭代的量小于阈值；**

再加上：

**trace(3,"valsol : n=%d nv=%d\\n",n,nv); // validate solution**

**\}**

**3、单点定位之利用多普勒计算接收机速度；.trace输出**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 15][]

### 2.3.2 PMODE\_SINGLE ###

if (opt->mode==PMODE\_SINGLE) \{  
outsolstat(rtk);  
return 1; 可以看到，函数执行返回上一级！  
\}

.trace文件中输出：outsolstat；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 16][]

继续执行，输出

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 17][]

迭代循环输出……直到终止！

3 valsol  : n=9 nv=11
    3 estvel  : n=9
    3 resdop  : n=9
    3 resdop  : n=9
    3 outsolstat:
    3 outsol  :
    3 outsols :
    3 outpos  :
    3 infunc  : revs=0 iobsu=5800 iobsr=5800 isbs=0
    3 rtkfree :
    3 freeobsnav:
    3 freepreceph:
    3 free_rtcm:
    3 closeses:
    3 closegoid:
    3 rtkclosestat:

**附上三个文件.pos、.stat、.trace 希望对大家有帮助！**

[RTKLIB代码在VS下调试输出pos.trace.stat文件指南.zip][RTKLIB_VS_pos.trace.stat_.zip]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200604095213183.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
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