?? ?? 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