1. 主函数

先看看整个程序的逻辑：

对于后处理主函数的学习，作为入门的话不需要非常了解，只需要做一个大致学习，知道他是怎么调用的，就可以了。

rnx2rtkp主函数的简单介绍：

• 读取配置文件过程：

  • 循环判断参数是否有 -k，如果有就代表传入了配置文件，需要读取进来；
  • 创建 porcopt_t、solopt_t、filopt_t 变量用于接受读取到的配置；
  • 调用 resetsysopts() ，重置配置为默认值；
  • 调用 loadopts()，从文件中读取配置，存到 opt_t 类型的 sysopt 中；
  • 调用 getsysopts()，把 opt_t 类型的 sysopt 转到 porcopt_t、solopt_t、filopt_t 变量中，会调用 buff2sysopts()。

• 读其它参数：

  • 循环内，if-else if，判断参数，根据参数赋值；
  • 若都不是参数，最后一个到 else if，认为是文件路径，用 infile 数组接收；

• 最后调用 postpos() 后处理解算。

下面是博主的主函数供大家参考：

/*——————————————————————————
* rnx2rtkp.c : read rinex obs/nav files and compute receiver positions
*
* Copyright (C) 2007-2016 by T.TAKASU, All rights reserved.
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:55:16 $
* history : 2007/01/16 1.0 new
* 2007/03/15 1.1 add library mode
* 2007/05/08 1.2 separate from postpos.c
* 2009/01/20 1.3 support rtklib 2.2.0 api
* 2009/12/12 1.4 support glonass
* add option -h, -a, -l, -x
* 2010/01/28 1.5 add option -k
* 2010/08/12 1.6 add option -y implementation (2.4.0_p1)
* 2014/01/27 1.7 fix bug on default output time format
* 2015/05/15 1.8 -r or -l options for fixed or ppp-fixed mode
* 2015/06/12 1.9 output patch level in header
* 2016/09/07 1.10 add option -sys
*—————————————————————————–*/
#include <stdarg.h>
#include “rtklib.h”

#define PROGNAME “rnx2rtkp” /* program name */
#define MAXFILE 16 /* max number of input files */

/* help text —————————————————————–*/
static const char* help[] = {
“”,
” usage: rnx2rtkp [option]… file file […]”,
“”,
” Read RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and ccompute “,
” receiver (rover) positions and output position solutions.”,
” The first RINEX OBS file shall contain receiver (rover) observations. For the”,
” relative mode, the second RINEX OBS file shall contain reference”,
” (base station) receiver observations. At least one RINEX NAV/GNAV/HNAV”,
” file shall be included in input files. To use SP3 precise ephemeris, specify”,
” the path in the files. The extension of the SP3 file shall be .sp3 or .eph.”,
” All of the input file paths can include wild-cards (*). To avoid command”,
” line deployment of wild-cards, use \”…\” for paths with wild-cards.”,
” Command line options are as follows ([]:default). With -k option, the”,
” processing options are input from the configuration file. In this case,”,
” command line options precede options in the configuration file.”,
“”,
” -? print help”,
” -k file input options from configuration file [off]”,
” -o file set output file [stdout]”,
” -ts ds ts start day/time (ds=y/m/d ts=h:m:s) [obs start time]”,
” -te de te end day/time (de=y/m/d te=h:m:s) [obs end time]”,
” -ti tint time interval (sec) [all]”,
” -p mode mode (0:single,1:dgps,2:kinematic,3:static,4:moving-base,”,
” 5:fixed,6:ppp-kinematic,7:ppp-static) [2]”,
” -m mask elevation mask angle (deg) [15]”,
” -sys s[,s…] nav system(s) (s=G:GPS,R:GLO,E:GAL,J:QZS,C:BDS,I:IRN) [G|R]”,
” -f freq number of frequencies for relative mode (1:L1,2:L1+L2,3:L1+L2+L5) [2]”,
” -v thres validation threshold for integer ambiguity (0.0:no AR) [3.0]”,
” -b backward solutions [off]”,
” -c forward/backward combined solutions [off]”,
” -i instantaneous integer ambiguity resolution [off]”,
” -h fix and hold for integer ambiguity resolution [off]”,
” -e output x/y/z-ecef position [latitude/longitude/height]”,
” -a output e/n/u-baseline [latitude/longitude/height]”,
” -n output NMEA-0183 GGA sentence [off]”,
” -g output latitude/longitude in the form of ddd mm ss.ss’ [ddd.ddd]”,
” -t output time in the form of yyyy/mm/dd hh:mm:ss.ss [sssss.ss]”,
” -u output time in utc [gpst]”,
” -d col number of decimals in time [3]”,
” -s sep field separator [‘ ‘]”,
” -r x y z reference (base) receiver ecef pos (m) [average of single pos]”,
” rover receiver ecef pos (m) for fixed or ppp-fixed mode”,
” -l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)”,
” rover latitude/longitude/height for fixed or ppp-fixed mode”,
” -y level output soltion status (0:off,1:states,2:residuals) [0]”,
” -x level debug trace level (0:off) [0]”
};
/* show message ————————————————————–*/
extern int showmsg(const char* format, …)
{
va_list arg;
va_start(arg, format); vfprintf(stderr, format, arg); va_end(arg);
fprintf(stderr, “\r”);
return 0;
}
extern void settspan(gtime_t ts, gtime_t te) {}
extern void settime(gtime_t time) {}

/* print help —————————————————————-*/
static void printhelp(void)
{
int i;
for (i = 0; i < (int)(sizeof(help) / sizeof(*help)); i++) fprintf(stderr, “%s\n”, help[i]);
exit(0);
}
/* rnx2rtkp main ————————————————————-*/
int main(int argc, char** argv)
{
prcopt_t prcopt = prcopt_default; /* 数据处理模式 */
solopt_t solopt = solopt_default; /* 结果输出信息 */
filopt_t filopt = { “” }; /* 配置文件路径 */
gtime_t ts = { 0 }, te = { 0 };
double tint = 0.0, es[] = { 2000,1,1,0,0,0 }, ee[] = { 2000,12,31,23,59,59 }, pos[3];
int i, j, n, ret;
char* infile[MAXFILE], * outfile = “”, * p;

prcopt.mode = PMODE_KINEMA;
prcopt.navsys = 0;
prcopt.refpos = 1;
prcopt.glomodear = 1;
solopt.timef = 0;
sprintf(solopt.prog, “%s ver.%s %s”, PROGNAME, VER_RTKLIB, PATCH_LEVEL);
sprintf(filopt.trace, “%s.trace”, PROGNAME);
/* 程序命令调式（begin）————————————————————————————————-*/

/* 示例1：标准单点定位 */
//argc = 5;
//argv[0] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\rnx2rtkp\\x64\\Debug\\rnx2rtkp.exe”;
//argv[1] = “-k”;
//argv[2] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\M_dgnss.conf”; /* 配置文件 ,可以在exe可执行文件中导出获得 */
//argv[3] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\BUCU00ROU_R_20240010000_01D_30S_MO.rnx”;
//argv[4] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\07590920.05n”;
//outfile = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\result\\07590920.pos”;
////outfile = “”; /* 计算结果仅显示在控制台 */

/* 示例2：精密单点定位 */
//argc = 7;
//argv[0] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\rnx2rtkp\\x64\\Debug\\rnx2rtkp.exe”;
//argv[1] = “-k”;
//argv[2] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\M_dgnss.conf”;
//argv[3] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\BUCU00ROU_R_20240010000_01D_30S_MO.rnx”;
//argv[4] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\brdc0010.24n”;
//argv[5] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\sp3\\COD0MGXFIN_20240010000_01D_05M_ORB.SP3”;
//argv[6] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\sp3\\COD0MGXFIN_20240010000_01D_30S_CLK.CLK”;
//outfile = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\result\\PPP_07590920.pos”;

/* 示例3：差分定位 (先流动站，后基准站) */
argc = 7;
argv[0] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\rnx2rtkp\\x64\\Debug\\rnx2rtkp.exe”;
argv[1] = “-k”;
argv[2] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\M_dgnss.conf”;
argv[3] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\BUCU00ROU_R_20240010000_01D_30S_MO.rnx”;
argv[4] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\brdc0010.24n”;
argv[5] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\MIKL00UKR_R_20240010000_01D_30S_MO.rnx”;
argv[6] = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\data\\rinex\\brdc0010.24n”;
outfile = “E:\\RTKLIB\\RTKLIB-rtklib_2.4.3\\test\\result\\RTK_07590920.pos”;

/* 程序命令调式（end）—————————————————————————————————*/

/* load options from configuration file */
for (i = 1; i < argc; i++) {
if (!strcmp(argv[i], “-k”) && i + 1 < argc) {
resetsysopts();
if (!loadopts(argv[++i], sysopts)) return -1;
getsysopts(&prcopt, &solopt, &filopt);
}
}
for (i = 1, n = 0; i < argc; i++) {
if (!strcmp(argv[i], “-o”) && i + 1 < argc) outfile = argv[++i];
else if (!strcmp(argv[i], “-ts”) && i + 2 < argc) {
sscanf(argv[++i], “%lf/%lf/%lf”, es, es + 1, es + 2);
sscanf(argv[++i], “%lf:%lf:%lf”, es + 3, es + 4, es + 5);
ts = epoch2time(es);
}
else if (!strcmp(argv[i], “-te”) && i + 2 < argc) {
sscanf(argv[++i], “%lf/%lf/%lf”, ee, ee + 1, ee + 2);
sscanf(argv[++i], “%lf:%lf:%lf”, ee + 3, ee + 4, ee + 5);
te = epoch2time(ee);
}
else if (!strcmp(argv[i], “-ti”) && i + 1 < argc) tint = atof(argv[++i]);
else if (!strcmp(argv[i], “-k”) && i + 1 < argc) { ++i; continue; }
else if (!strcmp(argv[i], “-p”) && i + 1 < argc) prcopt.mode = atoi(argv[++i]);
else if (!strcmp(argv[i], “-f”) && i + 1 < argc) prcopt.nf = atoi(argv[++i]);
else if (!strcmp(argv[i], “-sys”) && i + 1 < argc) {
for (p = argv[++i]; *p; p++) {
switch (*p) {
case ‘G’: prcopt.navsys |= SYS_GPS;
case ‘R’: prcopt.navsys |= SYS_GLO;
case ‘E’: prcopt.navsys |= SYS_GAL;
case ‘J’: prcopt.navsys |= SYS_QZS;
case ‘C’: prcopt.navsys |= SYS_CMP;
case ‘I’: prcopt.navsys |= SYS_IRN;
}
if (!(p = strchr(p, ‘,’))) break;
}
}
else if (!strcmp(argv[i], “-m”) && i + 1 < argc) prcopt.elmin = atof(argv[++i]) * D2R;
else if (!strcmp(argv[i], “-v”) && i + 1 < argc) prcopt.thresar[0] = atof(argv[++i]);
else if (!strcmp(argv[i], “-s”) && i + 1 < argc) strcpy(solopt.sep, argv[++i]);
else if (!strcmp(argv[i], “-d”) && i + 1 < argc) solopt.timeu = atoi(argv[++i]);
else if (!strcmp(argv[i], “-b”)) prcopt.soltype = 1;
else if (!strcmp(argv[i], “-c”)) prcopt.soltype = 2;
else if (!strcmp(argv[i], “-i”)) prcopt.modear = 2;
else if (!strcmp(argv[i], “-h”)) prcopt.modear = 3;
else if (!strcmp(argv[i], “-t”)) solopt.timef = 1;
else if (!strcmp(argv[i], “-u”)) solopt.times = TIMES_UTC;
else if (!strcmp(argv[i], “-e”)) solopt.posf = SOLF_XYZ;
else if (!strcmp(argv[i], “-a”)) solopt.posf = SOLF_ENU;
else if (!strcmp(argv[i], “-n”)) solopt.posf = SOLF_NMEA;
else if (!strcmp(argv[i], “-g”)) solopt.degf = 1;
else if (!strcmp(argv[i], “-r”) && i + 3 < argc) {
prcopt.refpos = prcopt.rovpos = 0;
for (j = 0; j < 3; j++) prcopt.rb[j] = atof(argv[++i]);
matcpy(prcopt.ru, prcopt.rb, 3, 1);
}
else if (!strcmp(argv[i], “-l”) && i + 3 < argc) {
prcopt.refpos = prcopt.rovpos = 0;
for (j = 0; j < 3; j++) pos[j] = atof(argv[++i]);
for (j = 0; j < 2; j++) pos[j] *= D2R;
pos2ecef(pos, prcopt.rb);
matcpy(prcopt.ru, prcopt.rb, 3, 1);
}
else if (!strcmp(argv[i], “-y”) && i + 1 < argc) solopt.sstat = atoi(argv[++i]);
else if (!strcmp(argv[i], “-x”) && i + 1 < argc) solopt.trace = atoi(argv[++i]);
else if (*argv[i] == ‘-‘) printhelp();
else if (n < MAXFILE) infile[n++] = argv[i];
}
if (!prcopt.navsys) {
prcopt.navsys = SYS_GPS | SYS_GLO;
}
if (n <= 0) {
showmsg(“error : no input file”);
return -2;
}

/* 后处理定位解算开始 */
ret = postpos(ts, te, tint, 0.0, &prcopt, &solopt, &filopt, infile, n, outfile, “”, “”);

if (!ret) fprintf(stderr, “%40s\r”, “”);
return ret;
}

2. 自己写主函数

大家参考这个前辈的文章就可以了：RTKLIB学习日志3—精密定位流程 – 给大伙秀下绝活 – 博客园 (cnblogs.com)