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KenanZhu111 committed 2024-09-22 11:14:17 +08:00
1 parent 5ccca138b6
commit 3852cdbc1b
3 files changed
+188 -102
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cal_mod.h
+26 -26
View File
@@ -131,8 +131,27 @@
int o_epochnum, int gps_satnum) int o_epochnum, int gps_satnum)
{ int progress = 0; { int progress = 0;
int count = 0; int count = 0;
pxyz2blh tem1 = NULL;
pxyz2blh tem2 = NULL;
pblh2enu tem3 = NULL;
prahcal tem4 = NULL;
pdeg2dms temb = NULL;
pdeg2dms teml = NULL;
blh = (pblh)malloc(sizeof(pblh) * o_epochnum* 256);
enu = (penu)malloc(sizeof(penu) * o_epochnum* 256);
rah = (prah)malloc(sizeof(prah) * o_epochnum* 256);
pos_t = (ppos_t)malloc(sizeof(ppos_t) * o_epochnum* 256);
station = (pstation)malloc(sizeof(pstation) * o_epochnum* 256);
tem1 = (pxyz2blh)malloc(sizeof(pxyz2blh)* 512);
tem2 = (pxyz2blh)malloc(sizeof(pxyz2blh)* 512);
tem3 = (pblh2enu)malloc(sizeof(pblh2enu)* 512);
temb = (pdeg2dms)malloc(sizeof(pdeg2dms)* 512);
teml = (pdeg2dms)malloc(sizeof(pdeg2dms)* 512);
for (int i = 0; i < o_epochnum; i++)//第i个历元 for (int i = 0; i < o_epochnum; i++)//第i个历元
{ {
result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+"); result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+");
fprintf(result_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec); fprintf(result_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec);
fclose(result_file); fclose(result_file);
@@ -143,11 +162,6 @@
fprintf(result_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec); fprintf(result_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec);
fclose(result_file); fclose(result_file);
blh = (pblh)malloc(sizeof(pblh) * o_epochnum * 256);
enu = (penu)malloc(sizeof(penu) * o_epochnum * 256);
rah = (prah)malloc(sizeof(prah) * o_epochnum * 256);
pos_t = (ppos_t)malloc(sizeof(ppos_t) * o_epochnum * 256);
station = (pstation)malloc(sizeof(pstation) * o_epochnum *256);
for (int j = 0; j < obs_e[i].gps_num; j++)//第j颗GPS卫星 for (int j = 0; j < obs_e[i].gps_num; j++)//第j颗GPS卫星
{ {
@@ -173,15 +187,11 @@
} }
/* ----------------------------- 地固坐标系转经纬大地高坐标系 ----------------------------- */ /* ----------------------------- 地固坐标系转经纬大地高坐标系 ----------------------------- */
pxyz2blh tem1 = NULL;
tem1 = (pxyz2blh)malloc(sizeof(pxyz2blh));
tem1 = XYZ2BLH( tem1, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], a, e2); tem1 = XYZ2BLH( tem1, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], a, e2);
blh->B = rad2deg(tem1->B); blh->B = rad2deg(tem1->B);
blh->L = rad2deg(tem1->L); blh->L = rad2deg(tem1->L);
blh->H = rad2deg(tem1->H); blh->H = rad2deg(tem1->H);
pxyz2blh tem2 = NULL;
tem2 = (pxyz2blh)malloc(sizeof(pxyz2blh));
tem2 = XYZ2BLH( tem2, obs_h->apX, obs_h->apY, obs_h->apZ, a, e2); tem2 = XYZ2BLH( tem2, obs_h->apX, obs_h->apY, obs_h->apZ, a, e2);
station->B = tem2->B; station->B = tem2->B;
station->L = tem2->L; station->L = tem2->L;
@@ -192,8 +202,7 @@
double deltax = pos_t[i].X[sPRN] - obs_h->apX; double deltax = pos_t[i].X[sPRN] - obs_h->apX;
double deltay = pos_t[i].Y[sPRN] - obs_h->apY; double deltay = pos_t[i].Y[sPRN] - obs_h->apY;
double deltaz = pos_t[i].Z[sPRN] - obs_h->apZ; double deltaz = pos_t[i].Z[sPRN] - obs_h->apZ;
pblh2enu tem3 = NULL;
tem3 = (pblh2enu)malloc(sizeof(pblh2enu));
tem3 = BLH2ENU(tem3, station->B, station->L, deltax, deltay, deltaz); tem3 = BLH2ENU(tem3, station->B, station->L, deltax, deltay, deltaz);
enu->E = tem3->E; enu->E = tem3->E;
enu->N = tem3->N; enu->N = tem3->N;
@@ -201,29 +210,22 @@
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
/* ---------------------------- 卫星方位角a，高度角h，向径r计算 --------------------------- */ /* ---------------------------- 卫星方位角a，高度角h，向径r计算 --------------------------- */
prahcal tem4 = NULL;
tem4 = (prahcal)malloc(sizeof(prahcal));
tem4 = RAHCAL(tem4, enu->E, enu->N, enu->U); tem4 = RAHCAL(tem4, enu->E, enu->N, enu->U);
rah->R = tem4->R; rah->R = tem4->R;
rah->A = rad2deg(tem4->A); rah->A = rad2deg(tem4->A);
rah->H = rad2deg(tem4->H); rah->H = rad2deg(tem4->H);
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
if (blh->H < 0 || nav_b[best_epoch].sHEA != 0) if (blh->H < 0 || nav_b[best_epoch].sHEA != 0)
{ {
break; break;
} }
else else
{ {
pdeg2dms temb = NULL;
temb = (pdeg2dms)malloc(sizeof(pdeg2dms));
temb = DEG2DMS(temb, blh->B); temb = DEG2DMS(temb, blh->B);
blh->B_d = temb->D; blh->B_d = temb->D;
blh->B_m = temb->M; blh->B_m = temb->M;
blh->B_s = temb->S; blh->B_s = temb->S;
pdeg2dms teml = NULL;
teml = (pdeg2dms)malloc(sizeof(pdeg2dms));
teml = DEG2DMS(teml, blh->L); teml = DEG2DMS(teml, blh->L);
blh->L_d = teml->D; blh->L_d = teml->D;
blh->L_m = teml->M; blh->L_m = teml->M;
@@ -240,14 +242,8 @@
,sPRN, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], obs_b[i].obs_gps[j][C1], obs_b[i].obs_gps[j][10], rah->H, nav_b[best_epoch].TGD, pos_t[i].delta_clk[sPRN]); ,sPRN, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], obs_b[i].obs_gps[j][C1], obs_b[i].obs_gps[j][10], rah->H, nav_b[best_epoch].TGD, pos_t[i].delta_clk[sPRN]);
fclose(result_file); fclose(result_file);
} }
}
//释放指针内存
free(blh);pblh blh = NULL;
free(enu);penu enu = NULL;
free(rah);prah rah = NULL;
free(pos_t);ppos_t pos_t = NULL;
free(station);pstation station = NULL;
}
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
fprintf(result_file, "\n"); fprintf(result_file, "\n");
fclose(result_file); fclose(result_file);
@@ -274,7 +270,11 @@
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
fprintf(result_file, "\nEND"); fprintf(result_file, "\nEND");
fclose(result_file); fclose(result_file);
free(blh);blh = NULL;
free(enu);enu = NULL;
free(rah);rah = NULL;
free(pos_t);pos_t = NULL;
free(station);station = NULL;
return 1; return 1;
} }
main.c
+25 -76
View File
@@ -8,6 +8,7 @@
#include"read.h" #include"read.h"
#include"cal_mod.h" #include"cal_mod.h"
#include"terminal.h"
int main(void) int main(void)
{ {
@@ -30,111 +31,59 @@ int main(void)
int over = 0; int over = 0;
/* -------------------------------------------------------------------------- */
while(over == 0) while(over == 0)
{ {
int langop; int langop;
char obs_flie[20]; pfilename filetype = NULL;
char nav_file[20];
printf("|**************SPP-pseudorange-positioning*****************************************|\n"); /* ---------------------------------- 终端显示 ---------------------------------- */
printf("**@Author: KenanZhu\n**@Date: 2024/09/21\n**@Make by: C & Python & Matlab\n"); langop = Begin_inTermianl();
printf("**@INTRO: \n**The main functions of the software include:\n"); filetype = (pfilename)malloc(sizeof(pfilename) * 512);
printf("**read RINEX3.04 files, and output three formats of document files,\n"); filetype = InO_inTermianl(langop, filetype);
printf("**please cooperate with the corresponding tools for processing.\n");
printf("**Specific please see:\n https://github.com/KenanZhu111/SPP_-pseudorange-positioning\n");
printf("|**********************************************************************************|\n\n");
printf("|>>> 请选择您的语言:/Please choose your language <<<|\n--------------------\n[1 | ENG][0 | 中文]\n--------------------\n");
scanf("%d",&langop);
if (langop == 0)
{ printf("|>>> 本程序只支持 ver3.04 RINEX文件的读取 <<<|\n\n");
printf("|>> 请输入观测数据文件的文件名（包含拓展名）：\n");
scanf("%s", &obs_flie);}
if (langop == 1)
{ printf("|>>> This program only supports reading ver3.04 RINEX files <<<|\n\n");
printf("|>> Please enter the file name (including the extension) of the observation data file.:\n");
scanf("%s", &obs_flie);}
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
//O文件读取 //O文件读取
fp_obs = fopen(obs_flie, "r"); fp_obs = fopen(filetype->obs_file, "r");
if (langop == 0 && fp_obs == NULL)
{printf("|>> 观测文件%s读取失败,请检查文件名或者确认文件是否被移动\n", obs_flie);}
else if (langop == 0 && fp_obs != NULL)
{printf("|>> 观测文件%s读取成功,正在处理数据...\n\n", obs_flie);}
if (langop == 1 && fp_obs == NULL) ReadO_inTerminal(fp_obs, langop, filetype->obs_file);//显示函数
{printf("|>> Observation file %s failed to be read. Please check the file name or confirm whether the file has been moved\n\n", obs_flie);}
else if (langop == 1 && fp_obs != NULL)
{printf("|>> The observation file %s has been read successfully and data is being processed...\n", obs_flie);}
int o_epochnum = get_epochnum(fp_obs);//O文件历元数 int o_epochnum = get_epochnum(fp_obs);
rewind(fp_obs); rewind(fp_obs);
obs_h = (pobs_head)malloc(sizeof(obs_head));//给O文件头开辟空间 obs_h = (pobs_head)malloc(sizeof(obs_head));
obs_e = (pobs_epoch)malloc(sizeof(obs_epoch) * o_epochnum); obs_e = (pobs_epoch)malloc(sizeof(obs_epoch) * o_epochnum);
obs_b = (pobs_body)malloc(sizeof(obs_body) * o_epochnum); obs_b = (pobs_body)malloc(sizeof(obs_body) * o_epochnum);
if (obs_h && obs_e && obs_b) if (obs_h && obs_e && obs_b)
{ {
read_o_h(fp_obs, obs_h);//读取O文件头 read_o_h(fp_obs, obs_h);
read_o_b(fp_obs, obs_e, obs_b, obs_h->obstypenum_gps, obs_h->obstypenum_bds);//读取O数据块 read_o_b(fp_obs, obs_e, obs_b, obs_h->obstypenum_gps, obs_h->obstypenum_bds);
} }
fclose(fp_obs);//关闭O文件 fclose(fp_obs);
if (langop == 0 && fp_obs != NULL) filetype = OutO_InN_inTermianl(fp_obs, langop, filetype);//显示函数
{ printf("|>>> 观测文件读取完成! <<<|\n\n\n");
printf("|>> 请输入导航文件的文件名（包含拓展名）：\n");
scanf("%s", &nav_file);}
if (langop == 1 && fp_obs != NULL)
{ printf("|>>> Observation file read complete! <<<|\n\n\n");
printf("|>> Please enter the file name (including the extension) of the Navigation data file.:\n");
scanf("%s", &nav_file);}
/* -------------------------------------------------------------------------- */ /* -------------------------------------------------------------------------- */
//N文件读取 //N文件读取
fp_nav = fopen(nav_file, "r"); fp_nav = fopen(filetype->nav_file, "r");
fp_obs = fopen(obs_flie, "r");
if (langop == 0 && fp_obs != NULL && fp_nav == NULL)
{printf("|>> 导航文件%s读取失败,请检查文件名或者确认文件是否被移动\n", nav_file);}
else if (langop == 0 && fp_obs != NULL && fp_nav != NULL)
{printf("|>> 观测文件%s读取成功,正在处理数据...\n\n", nav_file);}
if (langop == 1 && fp_obs != NULL && fp_nav == NULL) ReadN_inTerminal(fp_nav, fp_obs, langop, filetype->nav_file);
{printf("|>> Navigation file %s failed to be read. Please check the file name or confirm whether the file has been moved\n", nav_file);}
else if (langop == 1 && fp_obs != NULL && fp_nav != NULL)
{printf("|>> The Navigation file %s has been read successfully and data is being processed...\n\n", nav_file);}
int gps_satnum = getgpssatnum(fp_nav);//获取导航文件GPS卫星数据块数 int gps_satnum = getgpssatnum(fp_nav);
rewind(fp_nav);//将文件指针返回值起始位置 rewind(fp_nav);
nav_h = (pnav_head)malloc(sizeof(nav_head));//给N文件头开辟空间 nav_h = (pnav_head)malloc(sizeof(nav_head));
nav_b = (pnav_body)malloc(sizeof(nav_body) * gps_satnum * 20); nav_b = (pnav_body)malloc(sizeof(nav_body) * gps_satnum * 20);
if (nav_h && nav_b) if (nav_h && nav_b)
{ {
read_n_h(fp_nav, nav_h);//读取N头文件 read_n_h(fp_nav, nav_h);
read_n_b(fp_nav, nav_b);//读取N数据块 read_n_b(fp_nav, nav_b);
} }
fclose(fp_nav);//关闭N文件 fclose(fp_nav);
if (langop == 0 && fp_obs != NULL && fp_nav != NULL) OutN_inTerminal(fp_nav, fp_obs, langop);//显示函数
{printf("|>>> 导航文件读取完成! <<<|\n\n");printf("|>> 正在计算数据:[-");}
if (langop == 1 && fp_obs != NULL && fp_nav != NULL)
{printf("|>>> Navigation file read complete! <<<|\n\n");printf("|>> Calculating data:[-");}
/* -------------------------------------------------------------------------- */
if (fp_obs != NULL && fp_nav != NULL) if (fp_obs != NULL && fp_nav != NULL)
{ {
over = sat_gps_pos_clac(result_file, nav_b, obs_e, obs_b, obs_h, station, pos_t, blh, enu, rah, o_epochnum, gps_satnum); over = sat_gps_pos_clac(result_file, nav_b, obs_e, obs_b, obs_h, station, pos_t, blh, enu, rah, o_epochnum, gps_satnum);
} }
/* -------------------------------------------------------------------------- */
if (langop == 0 && fp_nav != NULL && fp_obs != NULL) End_inTerminal(fp_nav, fp_obs, langop, over);//显示函数
{ if (over == 1)
{printf("\n数据生成完毕!");}
if (over != 1)
{printf("\n数据处理发生错误!");}}
if (langop == 1 && fp_nav != NULL && fp_obs != NULL)
{ if (over == 1)
{printf("\nData generation completed!");}
if (over != 1)
{printf("\nData processing error!");}}
} }
return 0; return 0;
} }
terminal.h
+137
View File
@@ -0,0 +1,137 @@
#ifndef _TERMINAL_H_
#define _TREMINAL_H_
#include<stdio.h>
#include<stdlib.h>
typedef struct
{
char obs_file[20];
char nav_file[20];
}filename, *pfilename;
int Begin_inTermianl()
{
int langop;
printf("|**************SPP-pseudorange-positioning*****************************************|\n");
printf("**@Author: KenanZhu\n**@Date: 2024/09/21\n**@Make by: C & Python & Matlab\n");
printf("**@INTRO: \n**The main functions of the software include:\n");
printf("**read RINEX3.04 files, and output three formats of document files,\n");
printf("**please cooperate with the corresponding tools for processing.\n");
printf("**Specific please see:\n https://github.com/KenanZhu111/SPP_-pseudorange-positioning\n");
printf("|**********************************************************************************|\n\n");
printf("|>>> 请选择您的语言:/Please choose your language <<<|\n--------------------\n[1 | ENG][0 | 中文]\n--------------------\n");
scanf("%d",&langop);
return langop;
}
pfilename InO_inTermianl(int langop, pfilename filename)
{
filename = (pfilename)malloc(sizeof(pfilename));
if (langop == 0)
{
printf("|>>> 本程序只支持 ver3.04 RINEX文件的读取 <<<|\n\n");
printf("|>> 请输入观测数据文件的文件名（包含拓展名）：\n");
scanf("%s", &filename->obs_file);
}
if (langop == 1)
{
printf("|>>> This program only supports reading ver3.04 RINEX files <<<|\n\n");
printf("|>> Please enter the file name (including the extension) of the observation data file.:\n");
scanf("%s", &filename->obs_file);
}
return filename;
}
void ReadO_inTerminal(FILE *fp_obs, int langop, char obs_file[20])
{
if (langop == 0 && fp_obs == NULL)
{
printf("|>> 观测文件%s读取失败,请检查文件名或者确认文件是否被移动\n", obs_file);
}
else if (langop == 0 && fp_obs != NULL)
{
printf("|>> 观测文件%s读取成功,正在处理数据...\n\n", obs_file);
}
if (langop == 1 && fp_obs == NULL)
{
printf("|>> Observation file %s failed to be read. Please check the file name or confirm whether the file has been moved\n\n", obs_file);
}
else if (langop == 1 && fp_obs != NULL)
{
printf("|>> The observation file %s has been read successfully and data is being processed...\n", obs_file);
}
}
pfilename OutO_InN_inTermianl(FILE *fp_obs, int langop, pfilename filename)
{
if (langop == 0 && fp_obs != NULL)
{
printf("|>>> 观测文件读取完成! <<<|\n\n\n");
printf("|>> 请输入导航文件的文件名（包含拓展名）：\n");
scanf("%s", &filename->nav_file);
}
if (langop == 1 && fp_obs != NULL)
{
printf("|>>> Observation file read complete! <<<|\n\n\n");
printf("|>> Please enter the file name (including the extension) of the Navigation data file.:\n");
scanf("%s", &filename->nav_file);
}
return filename;
}
void ReadN_inTerminal(FILE *fp_nav, FILE *fp_obs, int langop, char nav_file[20])
{
if (langop == 0 && fp_obs != NULL && fp_nav == NULL)
{
printf("|>> 导航文件%s读取失败,请检查文件名或者确认文件是否被移动\n", nav_file);
}
else if (langop == 0 && fp_obs != NULL && fp_nav != NULL)
{
printf("|>> 观测文件%s读取成功,正在处理数据...\n\n", nav_file);
}
if (langop == 1 && fp_obs != NULL && fp_nav == NULL)
{
printf("|>> Navigation file %s failed to be read. Please check the file name or confirm whether the file has been moved\n", nav_file);
}
else if (langop == 1 && fp_obs != NULL && fp_nav != NULL)
{
printf("|>> The Navigation file %s has been read successfully and data is being processed...\n\n", nav_file);
}
}
void OutN_inTerminal(FILE *fp_nav, FILE *fp_obs, int langop)
{
if (langop == 0 && fp_obs != NULL && fp_nav != NULL)
{
printf("|>>> 导航文件读取完成! <<<|\n\n");printf("|>> 正在计算数据:[-");
}
if (langop == 1 && fp_obs != NULL && fp_nav != NULL)
{
printf("|>>> Navigation file read complete! <<<|\n\n");printf("|>> Calculating data:[-");
}
}
void End_inTerminal(FILE *fp_nav, FILE *fp_obs, int langop, int over)
{
if (langop == 0 && fp_nav != NULL && fp_obs != NULL)
{ if (over == 1)
{printf("\n数据生成完毕!");}
if (over != 1)
{printf("\n数据处理发生错误!");}
}
if (langop == 1 && fp_nav != NULL && fp_obs != NULL)
{
if (over == 1)
{printf("\nData generation completed!");}
if (over != 1)
{printf("\nData processing error!");}
}
}
#endif