diff --git a/cal_mod.h b/cal_mod.h index 124df11..3de02b1 100644 --- a/cal_mod.h +++ b/cal_mod.h @@ -12,71 +12,9 @@ #include"deg2dms.h" #include"blh2enu.h" #include"rahcal.h" - -/* -------------------------------------------------------------------------- */ -#define a 6378137.0//长半轴 -#define f (1 / 298.257223563)//扁率 -#define e2 (f*(2-f))//第一偏心率平方 -#define C_V 299792458//光速（m） -#define GM 398600500000000//地心引力常数 -#define math_e 2.718281828459 //e值 -#define PI 3.141592653589793 -#define Earth_e 7.2921151467e-5 //地球自转角速度 -#define C1 0 -/* -------------------------------------------------------------------------- */ - - //卫星位置结构体 - typedef struct - { - double X[36]; - double Y[36]; - double Z[36]; - double deltat[36];//改正前的信号传播时间 - double delta_t[36];//改正后的信号传播时间 - double delta_clk[36]; - }pos_t, *ppos_t; - - //测站位置结构体 - typedef struct - { - double X; - double Y; - double Z; - double B; - double L; - double H; - double delta_TR; - }station, *pstation; - - typedef struct - { - double B; - int B_d; - int B_m; - int B_s; - double L; - int L_d; - int L_m; - int L_s; - double H; - }blh, *pblh; - typedef struct enu - { - double E; - double N; - double U; - }enu, *penu; - - typedef struct rah - { - double R; - double A; - double H; - }rah, *prah; - - /* ------------------------------- GPS卫星位置计算函数 ------------------------------ */ - int gps_pos(int eponum, int sPRN, int best_epoch, double GPSsec, +/* ------------------------------- GPS卫星位置计算函数 ------------------------------ */ +int gps_pos(int eponum, int sPRN, int best_epoch, double GPSsec, pnav_body nav_b, pobs_head obs_h, ppos_t pos_t) { double T_S = GPSsec - pos_t[eponum].deltat[sPRN];//计算信号发射时刻 @@ -120,15 +58,15 @@ double rela = 2*sqrt(GM) * nav_b[best_epoch].e * nav_b[best_epoch].sqrtA * sin(Es)/pow(C_V,2); pos_t[eponum].delta_clk[sPRN] = nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * tk + nav_b[best_epoch].sa2 * pow(tk,2) - rela; } - /* -------------------------------------------------------------------------- */ +/* -------------------------------------------------------------------------- */ - /* ------------------------------- GPS卫星位置计算 ------------------------------ */ - int sat_gps_pos_clac(FILE * result_file, - pnav_body nav_b, pobs_epoch obs_e, pobs_body obs_b, - pobs_head obs_h, pstation station, ppos_t pos_t, - pblh blh, penu enu, prah rah, - int o_epochnum, int gps_satnum) +/* ------------------------------- GPS卫星位置计算&输出 ------------------------------ */ +int sat_gps_pos_clac(FILE * result_file, + pnav_body nav_b, pobs_epoch obs_e, pobs_body obs_b, + pobs_head obs_h, pstation station, ppos_t pos_t, + pblh blh, penu enu, prah rah, + int o_epochnum, int gps_satnum) { int progress = 0; int count = 0; pxyz2blh tem1 = NULL; @@ -149,9 +87,6 @@ teml = (pdeg2dms)malloc(sizeof(pdeg2dms)* 512); for (int i = 0; i < o_epochnum; i++)//第i个历元 { - - - 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); fclose(result_file); @@ -187,12 +122,12 @@ } /* ----------------------------- 地固坐标系转经纬大地高坐标系 ----------------------------- */ - 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]); blh->B = rad2deg(tem1->B); blh->L = rad2deg(tem1->L); blh->H = tem1->H; - 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); station->B = tem2->B; station->L = tem2->L; station->H = tem2->H; @@ -254,10 +189,10 @@ int progress_now = (int)(((i+1)*100/2880)); if ((progress_now - progress)>=2) { - printf("-"); + printf("="); count++; progress = progress_now; - printf("-]%3d%%", progress); + printf("=]%3d%%", progress); for(int countb = 0; countb < (5); countb++) { printf("\b"); diff --git a/degRrad.h b/degRrad.h index 0687416..6027ab0 100644 --- a/degRrad.h +++ b/degRrad.h @@ -1,6 +1,7 @@ #ifndef _DEGRRAD_H_ #define _DEGRRAD_H_ -#define PI 3.141592653589793 + +#include"read.h" /* -------------------------------------------------------------------------- */ /// @brief 角度转弧度 diff --git a/main.c b/main.c index 04c2e35..35cafc5 100644 --- a/main.c +++ b/main.c @@ -1,3 +1,11 @@ +/* + * @Author: KenanZhu111 3471685733@qq.com + * @Date: 2024-09-03 16:26:35 + * @LastEditors: KenanZhu111 3471685733@qq.com + * @LastEditTime: 2024-09-22 17:33:35 + * @FilePath: \Sat_Position_Solving_ver1.4\main.c + */ + /* -------------------------------------------------------------------------- */ /* 仅支持{ Ver 3.04 }版本RENIX观测值文件与广播星历文件读取 /* -------------------------------------------------------------------------- */ @@ -85,5 +93,6 @@ while(over == 0) End_inTerminal(fp_nav, fp_obs, langop, over);//显示函数 } + system("pause"); return 0; } \ No newline at end of file diff --git a/rahcal.h b/rahcal.h index 4532927..7366ea0 100644 --- a/rahcal.h +++ b/rahcal.h @@ -1,10 +1,11 @@ #ifndef _RAHCAL_H_ #define _RAHCAL_H_ -#define PI 3.141592653589793 #include #include +#include"read.h" + typedef struct { double R; diff --git a/read.h b/read.h index 8822afb..0945300 100644 --- a/read.h +++ b/read.h @@ -5,60 +5,87 @@ #include #define MAXRINEX 1000//一行最大字符数 +/* ------------------------------ WGS-84 CONST ------------------------------ */ +#define a 6378137.0 +#define e2 (0.0033528106647475*(2 - 0.0033528106647475)) +#define C_V 299792458 +#define GM 398600500000000 +#define math_e 2.718281828459 +#define PI 3.141592653589793 +#define Earth_e 7.2921151467e-5 +#define C1 0 +/* ----------------------------- GPS OBSERV TYPE ---------------------------- */ +#define C1C 101 +#define C1S 102 +#define C1L 103 +#define C1X 104 +#define C1P 105 +#define C1W 106 +#define C1Y 107 +#define C1M 108 -void setstr(char* des, const char* src, int n) -{ - char* p = des; - const char* q = src; - while (*q && q < src+n) - { - *p++ = *q++; - } - *p-- = '\0'; -//去掉尾部空格 - while (p >= des && *p == ' ') - { - *p-- = '\0'; - } -} +#define C2C 201 +#define C2S 202 +#define C2L 203 +#define C2X 204 +#define C2P 205 +#define C2W 206 +#define C2Y 207 +#define C2M 208 -/* ---------------------- 获取文件数据块行数，从END OF HEADER后开始起算 --------------------- */ -extern int getgpssatnum(FILE* fp_nav) -{ - int gps_satnum = 0; - int flag = 0; - char buff[MAXRINEX];//用来存放读取到的字符串 - char satvar; - char* lable = buff + 60; - //fgets函数，读取一行，当读取结束后返回NULL指针，格式如下： - //char * fgets ( char * str, int num, FILE * stream ); - while (fgets(buff, MAXRINEX, fp_nav)) - { - if (flag == 1) - { - while (fgets(buff, MAXRINEX, fp_nav)) - { - strncpy(&satvar, buff + 0, 1); - if (satvar != 'G') - { - continue; - } - else if (satvar == 'G') - { - gps_satnum++; - break; - } - } - - } +#define C5I 501 +#define C5Q 502 +#define C5X 503 +/* ------------------------------ FOR CALMOD.H ------------------------------ */ + //卫星位置结构体 + typedef struct + { + double X[36]; + double Y[36]; + double Z[36]; + double deltat[36];//改正前的信号传播时间 + double delta_t[36];//改正后的信号传播时间 + double delta_clk[36]; + }pos_t, *ppos_t; - if (strstr(lable, "END OF HEADER")) - { - flag = 1; - } - } - return gps_satnum; -} + //测站位置结构体 + typedef struct + { + double X; + double Y; + double Z; + double B; + double L; + double H; + double delta_TR; + }station, *pstation; + //经纬高结构体 + typedef struct + { + double B; + int B_d; + int B_m; + int B_s; + double L; + int L_d; + int L_m; + int L_s; + double H; + }blh, *pblh; + //东北天结构体 + typedef struct enu + { + double E; + double N; + double U; + }enu, *penu; + //高度方位角结构体 + typedef struct rah + { + double R; + double A; + double H; + }rah, *prah; /* ------------------------ 将字符串转换为浮点数,i起始位置，n输入多少个字符 ----------------------- */ static double strtonum(const char* buff, int i, int n) @@ -230,6 +257,7 @@ typedef struct obs_body /* -------------------------------------------------------------------------- */ /* 读取O文件 /* -------------------------------------------------------------------------- */ + /* -------------------------------- 获取O文件历元数 -------------------------------- */ extern int get_epochnum(FILE* fp_obs) { @@ -437,6 +465,45 @@ extern void read_o_b(FILE* fp_obs, pobs_epoch obs_e, pobs_body obs_b, int type_g /* -------------------------------------------------------------------------- */ /* 读取N文件 /* -------------------------------------------------------------------------- */ + +/* ---------------------- 获取文件数据块行数，从END OF HEADER后开始起算 --------------------- */ +extern int getgpssatnum(FILE* fp_nav) +{ + int gps_satnum = 0; + int flag = 0; + char buff[MAXRINEX];//用来存放读取到的字符串 + char satvar; + char* lable = buff + 60; + //fgets函数，读取一行，当读取结束后返回NULL指针，格式如下： + //char * fgets ( char * str, int num, FILE * stream ); + while (fgets(buff, MAXRINEX, fp_nav)) + { + if (flag == 1) + { + while (fgets(buff, MAXRINEX, fp_nav)) + { + strncpy(&satvar, buff + 0, 1); + if (satvar != 'G') + { + continue; + } + else if (satvar == 'G') + { + gps_satnum++; + break; + } + } + + } + + if (strstr(lable, "END OF HEADER")) + { + flag = 1; + } + } + return gps_satnum; +} + /* -------------------------------- 读取N文件数据头 -------------------------------- */ void read_n_h(FILE* fp_nav, pnav_head nav_h) { diff --git a/terminal.h b/terminal.h index 282d47b..4cba63e 100644 --- a/terminal.h +++ b/terminal.h @@ -50,7 +50,7 @@ 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); + 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\n", obs_file); } else if (langop == 0 && fp_obs != NULL) { @@ -63,7 +63,7 @@ void ReadO_inTerminal(FILE *fp_obs, int langop, char obs_file[20]) } else if (langop == 1 && fp_obs != NULL) { - printf("|>> The observation file %s has been read successfully and data is being processed...\n", obs_file); + printf("|>> The observation file %s has been read successfully and data is being processed...\n\n", obs_file); } } @@ -72,13 +72,13 @@ 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"); + printf("|>> 请输入导航文件的文件名（包含拓展名）：\n\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"); + printf("|>> Please enter the file name (including the extension) of the Navigation data file.:\n\n"); scanf("%s", &filename->nav_file); } return filename; @@ -88,7 +88,7 @@ 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); + 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\n", nav_file); } else if (langop == 0 && fp_obs != NULL && fp_nav != NULL) { @@ -97,7 +97,7 @@ void ReadN_inTerminal(FILE *fp_nav, FILE *fp_obs, int langop, char nav_file[20]) 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); + printf("|>> Navigation file %s failed to be read. Please check the file name or confirm whether the file has been moved\n\n", nav_file); } else if (langop == 1 && fp_obs != NULL && fp_nav != NULL) { @@ -109,11 +109,11 @@ 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:[-"); + 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:[-"); + printf("|>>> Navigation file read complete! <<<|\n\n");printf("|>> Calculating data:[="); } } diff --git a/xyz2blh.h b/xyz2blh.h index 8cc48a8..ee8e281 100644 --- a/xyz2blh.h +++ b/xyz2blh.h @@ -24,7 +24,7 @@ typedef struct /// @return 返回自定义结构体类型包含B，L，H成员 /* -------------------------------------------------------------------------- */ pxyz2blh XYZ2BLH(pxyz2blh xyz2blh, - double X, double Y, double Z, double a, double e2) + double X, double Y, double Z) { xyz2blh = (pxyz2blh)malloc(sizeof(pxyz2blh));