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‎README.md‎

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# Rtk in GSS
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This project contains the open source codes for the paper "Global RTK Positioning in Graphical State Space".
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This paper has been presented at ION GNSS+ 2022.
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Here is the preprint version. https://arxiv.org/abs/2208.12923.
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This project contains the open source codes for the papers "[[Real-time Kinematic Positioning Algorithm in Graphical State Space](https://www.ion.org/publications/abstract.cfm?articleID=18676)]()" and "[[Global RTK Positioning in Graphical State Space](https://www.ion.org/publications/abstract.cfm?articleID=18519)]()".
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The two papers have been presented at ITM 2023 and ION GNSS+ 2022.
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If you use this code for your research, please cite our papers.
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Ge, Yihong, Yan, Sudan, Lü, Shaolin, Li, Cong, "Global RTK Positioning in Graphical State Space," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 2767-2776.[https://doi.org/10.33012/2022.18519](https://doi.org/10.33012/2022.18519)
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Yan, Sudan, Lü, Shaolin, Liu, Gang, Zhan, Yiding, Lou, Jianan, Zhang, Rong, "Real-time Kinematic Positioning Algorithm in Graphical State Space," Proceedings of the 2023 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2023, pp. 637-648.[https://doi.org/10.33012/2023.18676](https://doi.org/10.33012/2023.18676)
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The library was built in Ubuntu 16.04.
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The results may be different for different OS. If any problem was found by you, please propose an issue or report to
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4050627@qq.com. The rtk part was modified from RTKlib to C++ style.
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The results may be different for different OS. If any problem was found by you, please propose an issue or report it to 4050627@qq.com. The RTK part was modified from RTKlib to C++ style.
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## How to use this project
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### 1)Required
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- CMake --> sudo apt-get install cmake
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- Boost --> sudo apt-get install libboost-all-dev
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- Eigen --> sudo apt-get install libeigen3-dev
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This code realizes RTK in Graphical State Space in sliding window graph and global graph. It consists of the following factors:
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* Priori Factor for the fixed-solution position and double-difference ambiguities.
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* Double-difference carrier wave measurement factor.
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* Double-difference pseudo-range measurement factor.
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* Single difference Doppler frequency measurement factor.
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* State prediction factor for the dynamic state vector
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​ sudo cp -r /usr/local/include/eigen3 /usr/include
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<img title="" src="fig/nRTK_factor.png" alt="" style="zoom:80%;" data-align="left">
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- Intel TBB (optional)->sudo apt-get install libtbb-dev
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# How to use this project
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- [gtsam](https://github.com/borglab/gtsam) --> git clone https://github.com/borglab/gtsam.git
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### 1)Required
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* CMake --> sudo apt-get install cmake
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* Boost --> sudo apt-get install libboost-all-dev
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* Eigen --> sudo apt-get install libeigen3-dev​ sudo cp -r /usr/local/include/eigen3 /usr/include
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* Intel TBB (optional)->sudo apt-get install libtbb-dev
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and Install gtsam
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* [gtsam](https://github.com/borglab/gtsam) --> git clone https://github.com/borglab/gtsam.git and Install gtsam, gtsam 3.2.3
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- [IntelMkl](https://software.intel.com/content/www/us/en/develop/tools/oneapi/components/onemkl.html)(optional)
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* [IntelMkl](https://software.intel.com/content/www/us/en/develop/tools/oneapi/components/onemkl.html)(optional)
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### 2）Clone repository to local machine
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- RTKinGSS -->git clone https://github.com/shaolinbit/RTKinGSS
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* RTKinGSS -->git clone https://github.com/shaolinbit/RTKinGSS
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### 3)Build
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​ cd RTKinGSS
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mkdir build && cd build
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​ cmake ..
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```bash
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cd RTKinGSS
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mkdir build && cd build
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​cmake ..
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​ make
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​make
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```
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### 4)Test
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cd ..
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```bash
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cd ../bin
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./Rtkpost_gtsam
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```
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The test data file is in the data file folder.
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There will be a test result under the path declared through object ```GSS_sildwin_result_file```.
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```cpp
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GSS_slidwin_result_file="../data/Project 200602/gtsam_GSS_sildwin_result_elmask_15.txt";
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GSS_global_result_file="../data/Project 200602/gtsam_GSS_global_result_elmask_15.txt";
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rtklib_ekf_result_file="../data/Project 200602/gtsam_rtklib_ekf_result_elmask_15.txt";
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```
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If you want to run your data, change the file path in ```RTKpost()```
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Input file (RINEX):
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- rover_path: observation file path of rover station.
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- base_path: observation file path of base station.
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- nav_path: navigation file path.
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Output file (txt):
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- GSS_sildwin_result_file: sliding window GSS factor graph result output in this path.
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- GSS_global_result_file: global window GSS factor graph result output in this path.
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- rtklib_ekf_result_file: EKF result output in this path.
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If you want to calculate the global factor graph, change the ```int flag_global``` to 1, which is declared in the file ```global.cpp```
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If you want to change the sliding window size, change ```int slidwin_size``` which is declared in the file ```global.cpp```
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Change the ```opt_gnss_mutifreq.conf``` file in folder ./rtk you can choose the satellite system and frequency you want, and set other options.
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### 5）sample data result
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There are two sample data under the folder test_data_result. The sliding window size is 10 epochs and the elevation mask is 15 deg.
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#### result of 200602
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<img src="fig/200602_H.png" title="" alt="" style="zoom:50%;"><img title="" src="fig/200602_BL.png" alt="" style="zoom:67%;"><img src="fig/200602_BL_1.png" title="" alt="" style="zoom:67%;"><img src="fig/200602_H_1.png" title="" alt="" style="zoom:50%;"><img src="fig/200602_H_2.png" title="" alt="" style="zoom:50%;">
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cd bin
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#### result of 170707
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./Rtk_gtsam
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<img src="fig/170707_H.png" title="" alt="" style="zoom:50%;"><img src="fig/170707_H_1.png" title="" alt="" style="zoom:50%;"><img src="fig/170707_H_2.png" title="" alt="" style="zoom:50%;">
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The test data file is in the data file folder.
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There will be a test result named "graph_result_dd.txt" in the data/output file folder.
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<img src="fig/170707_BL.png" title="" alt="" style="zoom:50%;">

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