Relative Positioning

Sequence Diagram Scroll down (bug in rendering) %%{init: {'theme':'forest'}}%% sequenceDiagram autonumber activate relpos() relpos()->>relpos(): satposs() compute satellite positions, velocities and clocks note over zdres(): Base station relpos()->>zdres(): undifferenced phase/code residuals (apriori/misclosure) zdres()->>relpos(): .

Sequence Diagram Scroll down (bug in rendering) %%{init: {'theme':'forest'}}%% sequenceDiagram autonumber rnx2rtkp()->>postpos():() postpos()->>postpos():openses() open processing session postpos()->>execses_b():execute processing session execses_b()->>execses_b():readpreceph() read prec ephemeris and sbas data execses_b()->>execses_r():execute processing session for each rover execses_r()->>execses():execute processing session execses()->>execses():readtec() read ionex tec grid file execses()->>execses():readerp() read erp data execses()->>execses():readobsnav() read obs and nav data execses()->>execses():readdcb() read dcb parameters from DCB, BIA, BSX files execses()->>execses():setpcv() set antenna parameters execses()->>execses():readotl() read ocean tide loading parameters execses()->>execses():antpos() rover/reference fixed position execses()->>execses():rtkclosestat() rtkclosestat() open solution statistics alt SOLTYPE_FORWARD solution type: forward execses()->>execses():rtkinit() execses()->>procpos():procpos() procpos()->>procpos():inputobs() procpos()->>procpos():satsys() exclude satellites procpos()->>procpos():corr_phase_bias_ssr() carrier-phase bias correction procpos()->>procpos(): rtkpos() note over procpos(): Reference rtkrcv for detailed rtkpos() execses()->>execses():rtkfree() else SOLTYPE_BACKWARD solution type: backward execses()->>execses():rtkinit() execses()->>execses():procpos() execses()->>execses():rtkfree() else combined or combined with no phase reset execses()->>execses():rtkinit() execses()->>execses():procpos() execses()->>execses():rtkfree() execses()->>execses():combres() end postpos()->>rnx2rtkp():return Reference : https://mermaid.

Sequence Diagram Scroll down (bug in rendering) %%{init: {'theme':'forest'}}%% sequenceDiagram autonumber alt PMODE_SINGLE single point positioning rtkpos()->>pntpos(): rover position and time by single point positioning pntpos()-->>rtkpos(): return rtkpos()->>rtkpos(): return 1 end alt PMODE_PPP_KINEMA precise point positioning rtkpos()->>pppos(): precise point positioning pppos()-->>rtkpos(): return stat rtkpos()->>rtkpos(): return 1 end alt PMODE_MOVEB moving baseline rtkpos()->>pntpos(): estimate position/velocity of base station pntpos()-->>rtkpos(): return rtkpos()->>rtkpos(): timediff() alt TTOL_MOVEB time sync tolerance for moving-baseline rtkpos()->>rtkpos(): return 0 end rtkpos()->>rtkpos(): time-synchronized position of base station else maxtdiff max difference of time (sec) note over rtkpos(): Static base station correction QC rtkpos()->>rtkpos(): age of differential error rtkpos()->>rtkpos(): return 1 end note over rtkpos(): Always runs for PMODE_MOVEB (moving base) and PMODE_FIXED (static base) rtkpos()->>relpos(): relative positioning relpos()->>rtkpos(): return rtkpos()->>rtkpos(): outsolstat() rtkpos()->>rtkpos(): return 1 Reference : https://mermaid.