PRSolve Positioning Application

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Description

This application reads one or more RINEX observation files, plus one or more navigation (ephemeris) files, and computes an autonomous pseudorange position solution, using a RAIM-like algorithm to eliminate outliers. Output is to the log file, and also optionally to a RINEX observation file with the position solutions in auxiliary header blocks.

Command Summary

Required Arguments:

Short Arg.	Long Arg.	Description
-o	--obs	Input RINEX observation file(s).
-n	--nav	Input navigation (ephemeris) file(s) (RINEX or SP3).

Optional Arguments:

Short Arg.	Long Arg.	Description
Input
-f		File containing more options.
	--obsdir	Directory of input observation file(s).
	--navdir	Directory of input navigation file(s).
	--metdir	Directory of input meteorological file(s).
-m	--met	Input RINEX meteorological file(s).
	--decimate	Decimate datat to time interval dt.
	--BeginTime	Start time: arg is 'GPSweek,sow' OR 'YYYY,MM,DD,HH,Min,Sec'.
	--EndTime	End time: arg is 'GPSweek,sow' OR 'YYYY,MM,DD,HH,Min,Sec'.
	--useCA	Use C/A code pseudorange if P1 is not available.
	--forceCA	Use C/A code pseudorange regardless of P1 availability.
Configuration
	--Freq	Frequency to process: 1, 2, or 3 for L1, L2, of iono-free combination.
	--MinElev	Minimum elevation angle in degrees (only if --PosXYZ).
	--exSat	Exclude this satellite.
	--Trop	Trop model, one of ZR, BL, SA, NB, NL, GG, GGH (gpstk:TropModel), with optional weather T(c), P(mb), RH.
PRSolution Configuration
	--RMSlimit	Upper limit on RMS post-fit residuals (m) for a good solution.
	--Slopelimit	Upper limit on RAIM slope for a good solution.
	--Algebra	Use algebraic algorithm (otherwise linearized LS).
	--DistanceCriterion	Use distance from a priori as convergence criterion (else RMS).
	--ReturnAtOnce	Return as soon as a good solution is found.
	--NReject	Maximum number of satellites to reject.
	--NIter	Maximum iteration count (linearized LS algorithm).
	--Conv	Minimum convergence criterion (LLS algorithm).
Output
	--Log	Output log file name (prs.log).
	--PosXYZ <X,Y,Z>	Known position (ECEF, m) used to compute output residuals.
	--APSout	Output autonomous pseudorange solution (APS - no RAIM).
	--TimeFormat	Output time format, i.e. CivilTime, default: %4F %10.3g.
RINEX Output
	--outRinex	Output RINEX observation file name.
	--RunBy	Output RINEX header 'Run By' string.
	--Observer	Output RINEX header 'Observer' string.
	--Agency	Output RINEX header 'Agency' string.
	--Marker	Output RINEX header 'Marker' string.
	--Number	Output RINEX header 'Number' string.
Help
	--verbose	Print extended output.
	--debug	Print very extended output.
	--helpRetCodes	Print return codes (implies-help).
-h	--help	Print syntax and quit.

Examples

> PRSolve -o arl2800.06o -n arl2800.06n

PRSolve, part of the GPS ToolKit, Ver 2.3 11/09, Run 2011/07/22 11:39:15
Opened log file prs.log

Weighted average RAIM solution for file: arl2800.06o
 (2880 total epochs, with 2880 good, 0 rejected.)
    918129.266960  -4346070.850055   4561977.615781
Covariance of RAIM solution for file: arl2800.06o
         0.000150        -0.000061         0.000058
        -0.000061         0.000427        -0.000248
         0.000058        -0.000248         0.000493

Notes

In the log file, results appear one epoch per line with the format: TAG Nrej week sow Nsat X Y Z T RMS slope nit conv sat sat .. (code) [N]V

Tag
RPF	Final RAIM ECEF XYZ solution.
RPR	Final RAIM ECEF XYZ solution residuals (only if --PosXYZ given).
RNE	Final RAIM North-East-Up solution residuals (only if ---PosXYZ given).
APS	Autonomous ECEF XYZ solution (only if --APSout given).
APR	Autonomous ECEF XYZ solution residuals (only if both --APS & --POS).
ANE	Autonomous North-East-Up solution residuals (only if --APS & --POS).

Nrej = number of rejected sats

(week,sow) = GPS time tag

Nsat = # sats used

XYZT = position+time solution(or residuals)

RMS = RMS residual of fit

slope = RAIM slope

nit = # of iterations

conv = convergence factor

'sat sat ...' lists all sat. PRNs (- : rejected)

code = return value from PRSolution::RAIMCompute()

|NV means NOT valid

-- NicoleQuindara - 04 Aug 2011