{"id":114843,"date":"2026-10-10T11:32:53","date_gmt":"2026-10-10T03:32:53","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/114843.html"},"modified":"2026-10-10T11:32:53","modified_gmt":"2026-10-10T03:32:53","slug":"rtklib%e4%b8%ad%e7%9a%84udstate%e5%87%bd%e6%95%b0%e8%a7%a3%e5%86%b3%e4%ba%86%e4%bb%80%e4%b9%88%e9%97%ae%e9%a2%98%ef%bc%881%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/114843.html","title":{"rendered":"RTKLIB\u4e2d\u7684udstate\u51fd\u6570\u89e3\u51b3\u4e86\u4ec0\u4e48\u95ee\u9898\uff081\uff09"},"content":{"rendered":"<h2>1. udstate\u51fd\u6570\u662f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>**\u4e00\u53e5\u8bdd&#xff1a;**<br \/>\n\u00a0udstate() \u672c\u8d28\u4e0a\u5c31\u662f\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u201c\u65f6\u95f4\u66f4\u65b0&#xff08;\u9884\u6d4b&#xff09;\u6b65\u201d&#xff0c;\u64cd\u4f5c\u5bf9\u8c61\u5c31\u662f\u72b6\u6001\u5411\u91cf rtk-&gt;x \u548c\u534f\u65b9\u5dee rtk-&gt;P\u3002udstate() \u505a\u7684\u4e8b\u5c31\u662f\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u9884\u6d4b\u65b9\u7a0b&#xff1a;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"74\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261010033251-6ac9b1e3e882d.png\" width=\"234\" \/><\/p>\n<p>**\u66f4\u51c6\u786e\u5730\u8bf4&#xff1a;**<\/p>\n<ul>\n<li>\u72b6\u6001\u5411\u91cf rtk-&gt;x&#xff1a;\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u72b6\u6001\u91cf&#xff0c;RTKLIB \u6309\u5757\u6392\u5217&#xff08;\u4f4d\u7f6e\/\u901f\u5ea6\/\u52a0\u901f\u5ea6\u3001\u7535\u79bb\u5c42\u3001\u5bf9\u6d41\u5c42\u3001\u5355\u5dee\u6a21\u7cca\u5ea6\u3001GLONASS \u786c\u4ef6\u504f\u5dee&#xff09;\u3002<\/li>\n<li>\u00a0\u534f\u65b9\u5dee rtk-&gt;P&#xff1a;\u72b6\u6001\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n<\/ul>\n<p>**\u4f60\u5e94\u8be5\u770b\u5230\u4e86&#xff1a;**<br \/>\n\u00a0 \u00a0 \u00a0 udstate()&#xff1a;\u4e0d\u662f\u72b6\u6001\u5411\u91cf\u672c\u8eab&#xff0c;\u800c\u662f\u5bf9\u72b6\u6001\u5411\u91cf\u548c\u534f\u65b9\u5dee\u6267\u884c\u9884\u6d4b\u7684\u51fd\u6570\u3002<br \/>\n\u00a0 \u00a0 \u00a0 \u8fd9\u53e5\u8bdd\u53ef\u4ee5\u8fd9\u4e48\u7406\u89e3&#xff1a;<br \/>\n\u00a0 \u00a0 \u00a0 \u51fd\u6570 vs \u6570\u636e<br \/>\n\u00a0 \u00a0 \u00a0 udstate() \u662f\u4e00\u4e2a\u51fd\u6570&#xff1a;\u4e00\u6bb5\u53ef\u6267\u884c\u7684\u4ee3\u7801&#xff0c;\u5b83\u505a\u8ba1\u7b97\u3002<br \/>\n\u00a0 \u00a0 \u00a0 rtk-&gt;x \u662f\u4e00\u4e2a\u6570\u636e\u7ed3\u6784&#xff1a;\u4e00\u4e2a\u6570\u7ec4&#xff0c;\u5b58\u653e\u5728 rtk_t \u7ed3\u6784\u4f53\u91cc&#xff0c;\u4ee3\u8868\u72b6\u6001\u5411\u91cf\u3002<\/p>\n<h2>\u00a02.\u00a0udstate()\u00a0\u7684\u8f93\u51fa\u662f\u4ec0\u4e48&#xff1f; \u00a0 \u00a0<\/h2>\n<p>\u4e25\u683c\u6765\u8bf4&#xff0c;udstate()\u00a0\u6ca1\u6709\u8fd4\u56de\u503c&#xff08;\u8fd4\u56de\u7c7b\u578b\u662f\u00a0void&#xff09;\u3002\u5b83\u4e0d\u201c\u8f93\u51fa\u201d\u4e00\u4e2a\u65b0\u7684\u72b6\u6001\u5411\u91cf&#xff0c;\u800c\u662f\u5c31\u5730\u4fee\u6539\u5df2\u7ecf\u5b58\u5728\u7684\u00a0rtk-&gt;x\u00a0\u548c\u00a0rtk-&gt;P\u3002<\/p>\n<p style=\"text-align:center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"139\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261010033252-6ac9b1e424739.png\" width=\"452\" \/><\/p>\n<p>\u8c03\u7528\u524d\u540e&#xff0c;rtk-&gt;x\u00a0\u8fd9\u4e2a\u6570\u7ec4\u4e00\u76f4\u5b58\u5728&#xff0c;\u53ea\u662f\u91cc\u9762\u7684\u6570\u503c\u88ab\u66f4\u65b0\u4e86\u3002<\/p>\n<p>\u6240\u4ee5\u66f4\u51c6\u786e\u7684\u8bf4\u6cd5\u662f&#xff1a;<\/p>\n<p>udstate()\u00a0\u662f\u5bf9\u5df2\u7ecf\u5b58\u5728\u7684\u72b6\u6001\u5411\u91cf\u00a0rtk-&gt;x\u00a0\u548c\u534f\u65b9\u5dee\u00a0rtk-&gt;P\u00a0\u6267\u884c\u65f6\u95f4\u66f4\u65b0\u64cd\u4f5c&#xff0c;\u5c31\u5730\u4fee\u6539\u5b83\u4eec\u7684\u503c\u3002<\/p>\n<h2>3. \u72b6\u6001\u91cf&#xff08;RTK-&gt;X)\u90fd\u5305\u542b\u4ec0\u4e48?<\/h2>\n<p>\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u72b6\u6001\u91cf&#xff0c;RTKLIB \u6309\u5757\u6392\u5217&#xff08;\u4f4d\u7f6e\/\u901f\u5ea6\/\u52a0\u901f\u5ea6\u3001\u7535\u79bb\u5c42\u3001\u5bf9\u6d41\u5c42\u3001\u5355\u5dee\u6a21\u7cca\u5ea6\u3001GLONASS \u786c\u4ef6\u504f\u5dee&#xff09;\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 1. udpos()<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u8be5\u51fd\u6570\u4e3b\u8981\u4e3a\u4e86\u66f4\u65b0\u4f4d\u7f6e\/\u901f\u5ea6\/\u52a0\u901f\u5ea6&#xff08;\u7531dynamics\u6a21\u578b\u51b3\u5b9a&#xff09;\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5982\u679cdynamics&#061;&#061;0&#xff1a;\u53ea\u4f7f\u7528\u4f4d\u7f6e&#xff08;\u8ba4\u4e3a\u76ee\u6807\u662f\u9759\u6001&#xff09;&#xff1b;<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5982\u679cdynamics&#061;&#061;\u00a01&#xff1a;\u4f4d\u7f6e&#043;\u901f\u5ea6&#xff08;\u8ba4\u4e3a\u76ee\u6807\u662f\u5300\u901f\u8fd0\u52a8&#xff09;&#xff1b; \u00a0<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5982\u679cdynamics&#061;&#061;\u00a02&#xff1a;\u4f4d\u7f6e&#043;\u901f\u5ea6&#043;\u52a0\u901f\u5ea6&#xff08;\u8ba4\u4e3a\u76ee\u6807\u662f\u5300\u52a0\u901f\u8fd0\u52a8&#xff09;\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a02.\u00a0 udion()<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u8be5\u51fd\u6570\u66f4\u65b0\u7535\u79bb\u5c42\u72b6\u6001\u91cf&#xff0c;\u6839\u636e\u914d\u7f6e\u51b3\u5b9a\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a03.\u00a0 udtrop()<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u8be5\u51fd\u6570\u66f4\u65b0\u5bf9\u6d41\u5c42\u72b6\u6001\u91cf&#xff0c;\u6839\u636e\u914d\u7f6e\u51b3\u5b9a\u3002\u00a0<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a04.\u00a0udrcvbias&#xff08;&#xff09;<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u8be5\u51fd\u6570\u66f4\u65b0GLONASS \u786c\u4ef6\u504f\u5dee\u72b6\u6001\u91cf&#xff0c;\u6839\u636e\u914d\u7f6e\u51b3\u5b9a\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a05.\u00a0udbias&#xff08;&#xff09;<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u8be5\u51fd\u6570\u4e3a\u72b6\u6001\u91cf\u4e2d\u5355\u5dee\u6a21\u7cca\u5ea6\u66f4\u65b0\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u4e3a\u4ec0\u4e48\u662f\u201c\u5355\u5dee\u201d\u6a21\u7cca\u5ea6&#xff1f;\u00a0RTKLIB \u9009\u62e9\u4f30\u8ba1\u7ad9\u95f4\u5355\u5dee\u6a21\u7cca\u5ea6\u4f5c\u4e3a\u72b6\u6001\u91cf&#xff0c;\u800c\u975e\u53cc\u5dee\u6a21\u7cca\u5ea6\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\u907f\u514d\u53c2\u8003\u661f\u5207\u6362\u5bfc\u81f4\u6240\u6709\u53cc\u5dee\u6a21\u7cca\u5ea6\u9700\u8981\u91cd\u65b0\u521d\u59cb\u5316\u7684\u95ee\u9898\u3002\u5f53\u53c2\u8003\u661f\u53d1\u751f\u53d8\u5316\u65f6&#xff0c;\u5355\u5dee\u6a21\u7cca\u5ea6\u4f9d\u7136\u4fdd\u6301\u8fde\u7eed\u3002\u8be5\u90e8\u5206\u4ee5\u540e\u518d\u5177\u4f53\u8bb2&#xff0c;\u8981\u7ed3\u5408\u975e\u5dee\u548c\u53cc\u5dee\u4e00\u8d77\u8bf4\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u4e0b\u9762\u5177\u4f53\u8bf4\u4e00\u4e0b\u72b6\u6001\u91cf\u7684\u6574\u4f53\u7ed3\u6784\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u00a0rtk-&gt;x\u00a0\u7684\u5e03\u5c40\u7531\u5b8f\u5b9a\u4e49\u51b3\u5b9a&#xff0c;\u987a\u5e8f\u5982\u4e0b&#xff1a;<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0\u00a0x &#061; [ \u4f4d\u7f6e\/\u901f\u5ea6\/\u52a0\u901f\u5ea6 | \u7535\u79bb\u5c42 | \u5bf9\u6d41\u5c42 | \u6a21\u7cca\u5ea6 | GLONASS\u786c\u4ef6\u504f\u5dee ]<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u5bf9\u5e94\u7684\u5b8f\u5b9a\u4e49&#xff08;\u4f4d\u4e8e\u00a0rtklib.h&#xff09;&#xff1a;\u00a0 \u00a0 \u00a0 \u00a0<img decoding=\"async\" alt=\"\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261010033252-6ac9b1e4568cc.png\" \/><\/p>\n<table>\n<tr>\u5b8f\u542b\u4e49\u6570\u91cf<\/tr>\n<tbody>\n<tr>\n<td>NP<\/td>\n<td>\u4f4d\u7f6e\/\u901f\u5ea6\/\u52a0\u901f\u5ea6<\/td>\n<td>3 \u6216 9<\/td>\n<\/tr>\n<tr>\n<td>NI<\/td>\n<td>\u7535\u79bb\u5c42\u53c2\u6570<\/td>\n<td>0 \u6216\u00a0MAXSAT<\/td>\n<\/tr>\n<tr>\n<td>NT<\/td>\n<td>\u5bf9\u6d41\u5c42\u53c2\u6570<\/td>\n<td>0\u30011 \u6216 3<\/td>\n<\/tr>\n<tr>\n<td>NB<\/td>\n<td>\u6a21\u7cca\u5ea6\u53c2\u6570<\/td>\n<td>0 \u6216\u00a0MAXSAT * NFREQ<\/td>\n<\/tr>\n<tr>\n<td>NC<\/td>\n<td>GLONASS \u786c\u4ef6\u504f\u5dee<\/td>\n<td>0 \u6216\u00a0MAXSAT<\/td>\n<\/tr>\n<tr>\n<td>NR<\/td>\n<td>\u975e GLONASS \u504f\u5dee\u90e8\u5206\u603b\u72b6\u6001\u6570<\/td>\n<td>\u2014<\/td>\n<\/tr>\n<tr>\n<td>NX<\/td>\n<td>\u72b6\u6001\u5411\u91cf\u603b\u7ef4\u6570<\/td>\n<td>NR &#043; NC<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>4. \u72b6\u6001\u7d22\u5f15\u7684\u5b9e\u9645\u4f7f\u7528<\/h2>\n<p>\u5728\u00a0relpos()\u00a0\u548c\u00a0ddres()\u00a0\u4e2d&#xff0c;\u4f1a\u901a\u8fc7\u4e0a\u8ff0\u5b8f\u6765\u8bbf\u95ee\u7279\u5b9a\u72b6\u6001&#xff1a;<\/p>\n<ul>\n<li>\n<p>rtk-&gt;x[IB(i,f)]&#xff1a;\u7b2c\u00a0i\u00a0\u9897\u536b\u661f\u7b2c\u00a0f\u00a0\u4e2a\u9891\u7387\u7684\u6a21\u7cca\u5ea6\u3002<\/p>\n<\/li>\n<li>\n<p>rtk-&gt;P[IB(i,f) &#043; IB(i,f) * rtk-&gt;nx]&#xff1a;\u5bf9\u5e94\u6a21\u7cca\u5ea6\u7684\u65b9\u5dee\u3002<\/p>\n<\/li>\n<li>\n<p>H[IB(i,f)]&#xff1a;\u8bbe\u8ba1\u77e9\u9635\u4e2d\u8be5\u6a21\u7cca\u5ea6\u5bf9\u5e94\u7684\u7cfb\u6570\u3002<\/p>\n<\/li>\n<\/ul>\n<p>ddres()\u00a0\u6784\u5efa\u53cc\u5dee\u89c2\u6d4b\u65b9\u7a0b\u65f6&#xff0c;\u6a21\u7cca\u5ea6\u53c2\u6570\u7684\u7cfb\u6570\u5c31\u662f\u901a\u8fc7\u00a0IB(i,f)\u00a0\u5b9a\u4f4d\u7684\u3002<\/p>\n<h2>5. \u540e\u7eed<\/h2>\n<p>\u5728\u72b6\u6001\u91cf\u5b9a\u4e49\u4e2d&#xff0c;udbias\u51fd\u6570\u6bd4\u8f83\u590d\u6742&#xff0c;\u4e0b\u4e00\u7bc7\u6587\u7ae0\u4f1a\u5177\u4f53\u8bf4\u660e\u51e0\u4e2a\u95ee\u9898&#xff1a;<\/p>\n<p>1.\u00a0\u00a0\/* temporal update of phase-bias *\/\u00a0\u7684\u610f\u601d\u662f&#xff1a;\u76f8\u4f4d\u504f\u5dee\u7684\u65f6\u95f4\u66f4\u65b0&#xff0c;\u4e3a\u5565\u4e0d\u76f4\u63a5\u53eb\u5355\u5dee\u00a0 \u6a21\u7cca\u5ea6\u3002<\/p>\n<p>2.\u00a0udbias\u5177\u4f53\u5e72\u4e86\u4ec0\u4e48\u4e8b&#xff1f;<\/p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. udstate\u51fd\u6570\u662f\u4ec0\u4e48&#xff1f;**\u4e00\u53e5\u8bdd&#xff1a;**udstate() \u672c\u8d28\u4e0a\u5c31\u662f\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u201c\u65f6\u95f4\u66f4\u65b0&#xff08;\u9884\u6d4b&#xff09;\u6b65\u201d&#xff0c;\u64cd\u4f5c\u5bf9\u8c61\u5c31\u662f\u72b6\u6001\u5411\u91cf rtk-&gt;x \u548c\u534f\u65b9\u5dee rtk-&gt;P\u3002udstate() \u505a\u7684\u4e8b\u5c31\u662f\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u9884\u6d4b\u65b9\u7a0b&#xff1a;**\u66f4\u51c6\u786e\u5730\u8bf4&#xff1a;**\u72b6\u6001\u5411\u91cf rtk-&gt;x&#xff1a;\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u72b6\u6001\u91cf&#xff0c;RTKLIB 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