Beidou Navigation | RTK RAIM Integrity

RTK RAIM (Real-Time Kinematic Receiver Autonomous Integrity Monitoring) is an integrity monitoring technology for GNSS (Global Satellite Navigation System). The following is a simple RTK RAIM C language code example to implement basic integrity monitoring functions.

#include <stdio.h>
#include <math.h>

#define PI 3.14159265358979323846

// 定义结构体存储卫星信息
typedef struct {
   
    
    
    double prn;     // 卫星编号
    double a