Getting Started GNSS Application Develop
作者:互联网
1. ntrip官方资料
http://software.rtcm-ntrip.org/
https://igs.bkg.bund.de/ntrip/download
2. rtklib手册
RTKLIB-rtklib_2.4.3b33/doc/manual_2.4.2.pdf
RTKLIB-rtklib_2.4.3b33/doc/doc/manual.docx
3. rtklib二次开发
https://github.com/libing64/learning_rtklib
4. 应用示例
rtcm3.x fiter and decoder
#if 0 for (it=rawData; it<rawData+len; it++){ unsigned char cFirst = *it; if( 0xD3 == (cFirst & 0xFF) ){ unsigned char cTemp1 = *(++it); // check reserved 6 bits == 0, 0xFC = 111111 00 if( 0 != (cTemp1 & 0xFC) ){ continue; } unsigned char cTemp2 = *(++it); // read message length nMsgLen = (cTemp1 & 0x03)*256 + (cTemp2 & 0xFF); msgBuf[0] = cFirst; msgBuf[1] = cTemp1; msgBuf[2] = cTemp2; // read message contents for(unsigned int j = 0; j < nMsgLen; j++){ msgBuf[j+3] = *(++it); } // read CRC-24 parity for(unsigned int j = 0; j < 3; j++){ crcBuf[j] = *(++it); } // perform CRC check unsigned int crc_calculated = 0; crc_calculated = crc_octests(msgBuf,nMsgLen + 3); if(crc_calculated == (crcBuf[0] << 16) + (crcBuf[1] << 8) + crcBuf[2] ){ // parse the detail of RTCM //nMsgID = msgBuf[3+0]*16 + (msgBuf[3+1] & 0xF0)/16; nMsgID = getbitu(msgBuf, 24, 12); #if LOG_RTCM printf("\n%d %d\n",++num, nMsgID); for(j=0; j<nMsgLen; j++) printf("%02x ",(uint8_t)msgBuf[j]); printf("\n"); #endif rtcm_t *rtcm = malloc(sizeof(rtcm_t)); init_rtcm (rtcm); for(j=0; j<nMsgLen; j++) input_rtcm3 (rtcm, (uint8_t)msgBuf[j]); decode_rtcm3(rtcm, Ntrip_ctx); free_rtcm (rtcm); free(rtcm); } //continue; } } #else for (i=0; i<len; i++){ if (len > i + 5 && (rawData[i] & 0xFF) == 0XD3) { // D3后面6bit为0,非0则不是 if ((rawData[i+1] & 0xff) >> 2 != 0) { continue; } // 计算数据长度 int length = ((rawData[i + 1] & 0x03) << 8) | (rawData[i + 2] & 0xff); length += 6; if (len < i + length) { break; } // 获取数据并移除缓存 memcpy(&msgBuf[0], &rawData[i], length); nMsgLen = length-3; // 校验 if (checkRTCM(msgBuf, length) == true) { // parse the detail of RTCM //nMsgID = msgBuf[3+0]*16 + (msgBuf[3+1] & 0xF0)/16; nMsgID = getbitu(msgBuf, 24, 12); #if LOG_RTCM printf("\n%d %d\n",++num, nMsgID); for(j=0; j<nMsgLen; j++) printf("%02x ",(uint8_t)msgBuf[j]); printf("\n"); #endif rtcm_t *rtcm = malloc(sizeof(rtcm_t)); init_rtcm (rtcm); for(j=0; j<nMsgLen; j++) input_rtcm3 (rtcm, (uint8_t)msgBuf[j]); decode_rtcm3(rtcm, Ntrip_ctx); free_rtcm (rtcm); free(rtcm); } } } #endif
5. 第三方补充
使用Rtklib进行PPP定位和RTK差分定位
https://www.jianshu.com/p/ccca8d06d9eb
RTKLIB 手册解读及代码调试知识总结
https://zhuanlan.zhihu.com/p/145313467
标签:Application,Started,com,GNSS,RTKLIB,rawData,https,rtklib,2.4 来源: https://www.cnblogs.com/dong2/p/13894523.html