?? ?? Tomoji TAKASU - PowerPoint PPT Presentation

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?? ?? Tomoji TAKASU

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Title: RTK Author: Tomoji TAKASU Last modified by: ttaka Created Date: 11/7/2005 3:13:20 AM – PowerPoint PPT presentation

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Title: ?? ?? Tomoji TAKASU


1
RTK-GPS????????????? (3)Basics of RTK-GPS
Positioning and Its Programing
  • ?????????????/?????????
  • ?? ?? Tomoji TAKASU

2
??
  • ?????????
  • BLASS
  • LAPACK
  • C?Fortran?????
  • ?????????
  • ???????
  • ??????

3
????????? (1)
  • ??????????? (???10?)?????????????????
  • ??????????? (????????)make??????????(???)

4
????????? (2)
  • BLAS?????? ???????????????????
  • LAPACK?????(???????)????????????????

5
BLAS (1)
  • Level1 y?axy...(?????)
  • Level2 y?aAxby...(??-????)
  • Level3 C?aABbC...(??-??)
  • ??? xAAAA(x S?????, D????? C??????,
    Z??????)

6
BLAS (2)
  • ??????DGEMM C?aABbC
  • ??????DGEMM(char transa, char transb, int m,
    int n, int k, double alpha, double a, int
    lda, double b, int ldb, double beta, double
    c, int ldc)

7
LAPACK (1)
  • ????????
  • ??????
  • ??????

8
LAPACK (2)
  • DGESV?????
  • DGELS????

9
C?Fortran??????
  • ?????GEMM?gemm_() (GCC)
  • ?? ???????(??)???(????????)
  • ????????? ???????-llapack -lblas (GCC)

10
?????/????
  • ??C(89)double amalloc(sizeof(double)nm)...
    bainj ...free(a)
  • ALLOCA (???)double aalloca(sizeof(double)nm)
    ... bainj ...
  • C99double anm... aij ...
    (Row-Major)

11
??????? (1)
  • ?????
  • ????QR??

12
??????? (2)
  • QR????Gram-ShmidtHouseholder??Givens-Rotation
  • ????

13
?????? (1)
FORTRAN/MATLAB (BLAS/LAPACK)
C
1-ORIGIN
Index
0-ORIGIN
Memory Order
n
n
m
m
Column-Major
Row-Major
Access to Member
Aij (aijnColumn-Major)
A(i,j)
(i1,2,...n,j1,2,...m)
(i0,1,...n-1,j0,1,...m-1)
14
?????? (2)
  • BLAS/LAPACK???
  • ??C(89)???? (???)
  • ??????????? Amat(n,m)
  • Column-Major Order (Fortran??)
  • ?????? Aijn
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