georust · gwbres · Aug 18, 2024 · Aug 18, 2024 · Aug 18, 2024
diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml
@@ -45,7 +45,7 @@ hifitime = { version = "4.0.0-alpha", features = ["serde", "std"] }
 
 gnss-rs = { version = "2.2.1", features = ["serde"] }
 
-gnss-rtk = { version = "0.7.0", features = ["serde"] }
+gnss-rtk = { version = "0.7.1", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
 # gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
 

diff --git a/rinex-cli/src/positioning/mod.rs b/rinex-cli/src/positioning/mod.rs
@@ -40,7 +40,7 @@ use rinex_qc::prelude::QcExtraPage;
 
 use gnss_rtk::prelude::{
     BdModel, Carrier as RTKCarrier, Config, Duration, Epoch, Error as RTKError, KbModel, Method,
-    NgModel, Orbit, PVTSolutionType, Solver, EARTH_J2000,
+    NgModel, Orbit, PVTSolutionType, Solver,
 };
 
 use thiserror::Error;

diff --git a/rinex-cli/src/positioning/ppp/report.rs b/rinex-cli/src/positioning/ppp/report.rs
@@ -672,7 +672,7 @@ impl ReportContent {
                     &epochs,
                     solutions
                         .values()
-                        .map(|sol| sol.state.to_cartesian_pos_vel()[0] - x0_ecef)
+                        .map(|sol| sol.state.to_cartesian_pos_vel()[0] * 1.0E3 - x0_ecef)
                         .collect(),
                     true,
                 );
@@ -684,7 +684,7 @@ impl ReportContent {
                     &epochs,
                     solutions
                         .values()
-                        .map(|sol| sol.state.to_cartesian_pos_vel()[1] - y0_ecef)
+                        .map(|sol| sol.state.to_cartesian_pos_vel()[1] * 1.0E3 - y0_ecef)
                         .collect(),
                     true,
                 );
@@ -696,7 +696,7 @@ impl ReportContent {
                     &epochs,
                     solutions
                         .values()
-                        .map(|sol| sol.state.to_cartesian_pos_vel()[2] - z0_ecef)
+                        .map(|sol| sol.state.to_cartesian_pos_vel()[2] * 1.0E3 - z0_ecef)
                         .collect(),
                     true,
                 );

diff --git a/rinex/src/lib.rs b/rinex/src/lib.rs
@@ -1,6 +1,6 @@
 #![doc(html_logo_url = "https://raw.githubusercontent.com/georust/meta/master/logo/logo.png")]
 #![doc = include_str!("../README.md")]
-#![cfg_attr(docrs, feature(doc_cfg))]
+#![cfg_attr(docsrs, feature(doc_cfg))]
 #![allow(clippy::type_complexity)]
 
 extern crate gnss_rs as gnss;
@@ -145,7 +145,7 @@ pub use split::Split;
 #[macro_use]
 extern crate serde;
 
-#[cfg(docrs)]
+#[cfg(docsrs)]
 pub use bibliography::Bibliography;
 
 /*
@@ -1751,7 +1751,7 @@ use crate::observation::{record::code_multipath, LliFlags, SNR};
  * Either specific Iterators, or meaningful data we can extract.
  */
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 impl Rinex {
     /// Returns a Unique Iterator over identified [`Carrier`]s
     pub fn carrier(&self) -> Box<dyn Iterator<Item = Carrier> + '_> {
@@ -2248,7 +2248,7 @@ use crate::navigation::{
  * Either specific Iterators, or meaningful data we can extract.
  */
 #[cfg(feature = "nav")]
-#[cfg_attr(docrs, doc(cfg(feature = "nav")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "nav")))]
 impl Rinex {
     /// Returns a Unique Iterator over [`NavMsgType`]s that were identified
     /// ```
@@ -2629,7 +2629,7 @@ impl Rinex {
  * Either specific Iterators, or meaningful data we can extract.
  */
 #[cfg(feature = "meteo")]
-#[cfg_attr(docrs, doc(cfg(feature = "meteo")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "meteo")))]
 impl Rinex {
     /// Returns temperature data iterator, values expressed in Celcius degrees
     /// ```
@@ -2952,11 +2952,11 @@ impl Split for Rinex {
 }
 
 #[cfg(feature = "processing")]
-#[cfg_attr(docrs, doc(cfg(feature = "processing")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "processing")))]
 impl Preprocessing for Rinex {}
 
 #[cfg(feature = "processing")]
-#[cfg_attr(docrs, doc(cfg(feature = "processing")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "processing")))]
 impl RepairTrait for Rinex {
     fn repair(&self, r: Repair) -> Self {
         let mut s = self.clone();
@@ -2971,7 +2971,7 @@ impl RepairTrait for Rinex {
 }
 
 #[cfg(feature = "processing")]
-#[cfg_attr(docrs, doc(cfg(feature = "processing")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "processing")))]
 impl Masking for Rinex {
     fn mask(&self, f: &MaskFilter) -> Self {
         let mut s = self.clone();
@@ -2997,7 +2997,7 @@ impl Masking for Rinex {
 }
 
 #[cfg(feature = "processing")]
-#[cfg_attr(docrs, doc(cfg(feature = "processing")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "processing")))]
 impl Decimate for Rinex {
     fn decimate(&self, f: &DecimationFilter) -> Self {
         let mut s = self.clone();
@@ -3024,7 +3024,7 @@ impl Decimate for Rinex {
 use observation::Dcb;
 
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 impl Dcb for Rinex {
     fn dcb(&self) -> HashMap<String, BTreeMap<SV, BTreeMap<(Epoch, EpochFlag), f64>>> {
         if let Some(r) = self.record.as_obs() {
@@ -3039,7 +3039,7 @@ impl Dcb for Rinex {
 use observation::{Combination, Combine};
 
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 impl Combine for Rinex {
     fn combine(
         &self,
@@ -3060,7 +3060,7 @@ use crate::clock::{ClockKey, ClockProfile, ClockProfileType};
  * Clock RINEX specific feature
  */
 #[cfg(feature = "clock")]
-#[cfg_attr(docrs, doc(cfg(feature = "clock")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "clock")))]
 impl Rinex {
     /// Returns Iterator over Clock RINEX content.
     pub fn precise_clock(
@@ -3108,7 +3108,7 @@ impl Rinex {
  * IONEX specific feature
  */
 #[cfg(feature = "ionex")]
-#[cfg_attr(docrs, doc(cfg(feature = "ionex")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "ionex")))]
 impl Rinex {
     /// Iterates over IONEX maps, per Epoch and altitude.
     /// ```
@@ -3234,7 +3234,7 @@ impl Rinex {
  * ANTEX specific feature
  */
 #[cfg(feature = "antex")]
-#[cfg_attr(docrs, doc(cfg(feature = "antex")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "antex")))]
 impl Rinex {
     /// Iterates over antenna specifications that are still valid
     pub fn antex_valid_calibrations(
@@ -3315,7 +3315,7 @@ impl Rinex {
  * DORIS special features
  */
 #[cfg(feature = "doris")]
-#[cfg_attr(docrs, doc(cfg(feature = "doris")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "doris")))]
 impl Rinex {
     /// Returns Stations Iterator
     pub fn stations(&self) -> Box<dyn Iterator<Item = &Station> + '_> {

diff --git a/rinex/src/navigation/ephemeris.rs b/rinex/src/navigation/ephemeris.rs
@@ -54,7 +54,7 @@ pub enum Error {
 /// GPS、BDS、Galieo
 /// - Helps calculate relativistic effects(todo)
 #[cfg(feature = "nav")]
-#[cfg_attr(docrs, doc(cfg(feature = "nav")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "nav")))]
 #[derive(Debug, Clone, Copy)]
 struct EphemerisHelper {
     /// Satellite
@@ -90,7 +90,7 @@ struct EphemerisHelper {
 }
 
 #[cfg(feature = "nav")]
-#[cfg_attr(docrs, doc(cfg(feature = "nav")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "nav")))]
 impl EphemerisHelper {
     fn meo_orbit_to_ecef_rotation_matrix(&self) -> Rotation<f64, 3> {
         // Positive angles mean counterclockwise rotation
@@ -114,38 +114,44 @@ impl EphemerisHelper {
     }
 
     /// Calculate ecef position [km].
-    /// Applies to GPS, Galileo, BeiDou (MEO).
     fn ecef_position(&self) -> Vector3<f64> {
-        let (x, y, z) = self.r_sv;
-        let orbit_xyz = Vector3::new(x, y, z);
-        let ecef_xyz = self.meo_orbit_to_ecef_rotation_matrix() * orbit_xyz;
-        ecef_xyz / 1000.0
+        if self.sv.is_beidou_geo() {
+            self.beidou_geo_ecef_position()
+        } else {
+            let (x, y, z) = self.r_sv;
+            let orbit_xyz = Vector3::new(x, y, z);
+            let ecef_xyz = self.meo_orbit_to_ecef_rotation_matrix() * orbit_xyz;
+            ecef_xyz / 1000.0
+        }
     }
 
     /// Calculate ecef velocity [km/s].
-    /// Applies to GPS, Galileo, BeiDou (MEO).
     fn ecef_velocity(&self) -> Vector3<f64> {
-        let (x, y, _) = self.r_sv;
-        let (sin_omega_k, cos_omega_k) = self.omega_k.sin_cos();
-        let (sin_i_k, cos_i_k) = self.i_k.sin_cos();
-        // First Derivative of orbit position
-        let (fd_x, fd_y) = self.orbit_velocity();
-        // First Derivative of rotation Matrix
-        let mut fd_r = na::SMatrix::<f64, 3, 4>::zeros();
-        fd_r[(0, 0)] = cos_omega_k;
-        fd_r[(0, 1)] = -sin_omega_k * cos_i_k;
-        fd_r[(0, 2)] = -(x * sin_omega_k + y * cos_omega_k * cos_i_k);
-        fd_r[(0, 3)] = y * sin_omega_k * sin_i_k;
-        fd_r[(1, 0)] = sin_omega_k;
-        fd_r[(1, 1)] = cos_omega_k * cos_i_k;
-        fd_r[(1, 2)] = x * cos_omega_k - y * sin_omega_k * cos_i_k;
-        fd_r[(1, 3)] = y * cos_omega_k * sin_i_k;
-        fd_r[(2, 1)] = sin_i_k;
-        fd_r[(2, 3)] = y * cos_i_k;
-
-        let rhs = Vector4::new(fd_x, fd_y, self.fd_omega_k, self.fd_i_k);
-        let vel = fd_r * rhs;
-        vel / 1000.0
+        if self.sv.is_beidou_geo() {
+            self.beidou_geo_ecef_velocity()
+        } else {
+            let (x, y, _) = self.r_sv;
+            let (sin_omega_k, cos_omega_k) = self.omega_k.sin_cos();
+            let (sin_i_k, cos_i_k) = self.i_k.sin_cos();
+            // First Derivative of orbit position
+            let (fd_x, fd_y) = self.orbit_velocity();
+            // First Derivative of rotation Matrix
+            let mut fd_r = na::SMatrix::<f64, 3, 4>::zeros();
+            fd_r[(0, 0)] = cos_omega_k;
+            fd_r[(0, 1)] = -sin_omega_k * cos_i_k;
+            fd_r[(0, 2)] = -(x * sin_omega_k + y * cos_omega_k * cos_i_k);
+            fd_r[(0, 3)] = y * sin_omega_k * sin_i_k;
+            fd_r[(1, 0)] = sin_omega_k;
+            fd_r[(1, 1)] = cos_omega_k * cos_i_k;
+            fd_r[(1, 2)] = x * cos_omega_k - y * sin_omega_k * cos_i_k;
+            fd_r[(1, 3)] = y * cos_omega_k * sin_i_k;
+            fd_r[(2, 1)] = sin_i_k;
+            fd_r[(2, 3)] = y * cos_i_k;
+
+            let rhs = Vector4::new(fd_x, fd_y, self.fd_omega_k, self.fd_i_k);
+            let vel = fd_r * rhs;
+            vel / 1000.0
+        }
     }
 
     /// Calculate ECEF position [km] and velocity [km/s] of MEO/IGSO sv
@@ -283,7 +289,7 @@ pub struct Ephemeris {
 #[cfg(feature = "nav")]
 #[derive(Default, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-#[cfg_attr(docrs, doc(cfg(feature = "nav")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "nav")))]
 pub struct Kepler {
     /// semi major axis (m)
     pub a: f64,
@@ -306,7 +312,7 @@ pub struct Kepler {
 /// Orbit Perturbations
 #[cfg(feature = "nav")]
 #[derive(Default, Clone, Debug)]
-#[cfg_attr(docrs, doc(cfg(feature = "nav")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "nav")))]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct Perturbations {
     /// Mean motion difference from computed value [semicircles.s-1]
@@ -368,15 +374,12 @@ impl Ephemeris {
     /// Return ToE expressed as [Epoch]
     pub fn toe(&self, sv_ts: TimeScale) -> Option<Epoch> {
         // TODO: in CNAV V4 TOC is said to be TOE... ...
-        let mut week = self.get_week()?;
+        let week = self.get_week()?;
         let sec = self.get_orbit_f64("toe")?;
         let week_dur = Duration::from_days((week * 7) as f64);
         let sec_dur = Duration::from_seconds(sec);
         match sv_ts {
             TimeScale::GPST | TimeScale::QZSST | TimeScale::GST => {
-                if sv_ts == TimeScale::GST {
-                    week -= 1024;
-                }
                 Some(Epoch::from_duration(week_dur + sec_dur, TimeScale::GPST))
             },
             TimeScale::BDT => Some(Epoch::from_bdt_duration(week_dur + sec_dur)),
@@ -577,7 +580,7 @@ impl Ephemeris {
     /// Total seconds elapsed between `t` and ToE, expressed in appropriate timescale.
     /// NB: this does not apply to GEO Ephemerides but only MEO.
     fn t_k(&self, sv: SV, t: Epoch) -> Option<f64> {
-        let mut sv_ts = sv.timescale()?;
+        let sv_ts = sv.timescale()?;
         let toe = self.toe(sv_ts)?;
         let dt = t.to_time_scale(sv_ts) - toe;
         Some(dt.to_seconds())

diff --git a/rinex/src/navigation/record.rs b/rinex/src/navigation/record.rs
@@ -4,7 +4,7 @@ use regex::{Captures, Regex};
 use std::collections::BTreeMap;
 use std::str::FromStr;
 
-#[cfg(docrs)]
+#[cfg(docsrs)]
 use crate::Bibliography;
 
 #[cfg(feature = "processing")]

diff --git a/rinex/src/observation/mod.rs b/rinex/src/observation/mod.rs
@@ -10,7 +10,7 @@ pub use flag::EpochFlag;
 mod snr;
 pub use snr::SNR;
 
-#[cfg(docrs)]
+#[cfg(docsrs)]
 use crate::Bibliography;
 
 pub use record::{LliFlags, ObservationData, Record};
@@ -308,7 +308,7 @@ impl HeaderFields {
 use std::collections::BTreeMap;
 
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 #[derive(Debug, Copy, Clone)]
 pub enum Combination {
     GeometryFree,
@@ -323,7 +323,7 @@ pub enum Combination {
 /// Refer to [Bibliography::ESAGnssCombination] and [Bibliography::ESABookVol1]
 /// for more information.
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 pub trait Combine {
     fn combine(
         &self,
@@ -334,7 +334,7 @@ pub trait Combine {
 /// GNSS code bias estimation trait.
 /// Refer to [Bibliography::ESAGnssCombination] and [Bibliography::ESABookVol1].
 #[cfg(feature = "obs")]
-#[cfg_attr(docrs, doc(cfg(feature = "obs")))]
+#[cfg_attr(docsrs, doc(cfg(feature = "obs")))]
 pub trait Dcb {
     /// Returns Differential Code Bias estimates, sorted per (unique)
     /// signals combinations and for each individual SV.

diff --git a/sp3/src/lib.rs b/sp3/src/lib.rs
@@ -1,5 +1,5 @@
 //! SP3 precise orbit file parser.
-#![cfg_attr(docrs, feature(doc_cfg))]
+#![cfg_attr(docsrs, feature(doc_cfg))]
 extern crate gnss_rs as gnss;
 
 use itertools::Itertools;
@@ -31,7 +31,7 @@ mod reader;
 mod velocity;
 mod version;
 
-#[cfg(doc_cfg)]
+#[cfg(docsrs)]
 mod bibliography;
 
 use header::{

diff --git a/tutorials/BDS/esbjerg.sh b/tutorials/BDS/esbjerg.sh
@@ -18,7 +18,8 @@ CONF=tutorials/config/survey/cpp_lsq.json
 # -f: force new synthesis
 # -P: filter example
 ./target/release/rinex-cli \
-    -P $FILTER -f -q \
+    -f -q -o "BDS-B2i-B3" \
+    -P $FILTER \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
     --fp $DATA_DIR/SP3/Sta21114.sp3.gz \
@@ -28,6 +29,7 @@ CONF=tutorials/config/survey/cpp_lsq.json
 # Since we're using strict identical options,
 # the report is preserved and new solutions are appended.
 ./target/release/rinex-cli \
+    -f -q -o "BDS-B2i-B3" \
     -P $FILTER \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \