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KenanZhu111 committed 2024-09-20 13:34:44 +08:00
commit 68362e984a
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.vscode/tasks.json
Vendored
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{
"tasks": [
{
"type": "cppbuild",
"label": "C/C++: gcc.exe 生成活动文件",
"command": "C:\\Users\\34716\\mingw64\\bin\\gcc.exe",
"args": [
"-fdiagnostics-color=always",
"-g",
"${file}",
"-o",
"${fileDirname}\\${fileBasenameNoExtension}.exe"
],
"options": {
"cwd": "${fileDirname}"
},
"problemMatcher": [
"$gcc"
],
"group": {
"kind": "build",
"isDefault": true
},
"detail": "调试器生成的任务。"
}
],
"version": "2.0.0"
}
2gpst.h
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#ifndef _2GPST_H_
#define _2GPST_H_
#include"read.h"
double TimetoGPSsec(int y, int m, int d, double h, int min, double sec)
{
if (m > 2)
{
y = y;
m = m;
}
if (m <= 2)
{
y = y - 1;
m = m + 12;
}
h = h + min/60.0 + sec/3600.0;
double JD = (int)(365.25 * y) + (int)(30.6001 * (m + 1)) + d + h/24.0 + 1720981.5;
double MJD = JD - 2400000.5;
int gpsweek = (int)((MJD - 44244) / 7);
double secofweek = (MJD - 44244.0 - gpsweek * 7.0) * 86400.0;
return secofweek;
}
#endif
CppProperties.json
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{
"configurations": [
{
"inheritEnvironments": [
"msvc_x64"
],
"name": "x64-Debug",
"includePath": [
"${env.INCLUDE}",
"${workspaceRoot}\\**"
],
"defines": [
"WIN32",
"_DEBUG",
"UNICODE",
"_UNICODE"
],
"intelliSenseMode": "windows-msvc-x64"
}
]
}
Draw the Track[by PyGMT]/.idea/.gitignore
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# 默认忽略的文件
/shelf/
/workspace.xml
Draw the Track[by PyGMT]/.idea/GMT4SAT.iml
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<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="jdk" jdkName="Python 3.8 (pygmt)" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
<component name="PyDocumentationSettings">
<option name="format" value="PLAIN" />
<option name="myDocStringFormat" value="Plain" />
</component>
<component name="TestRunnerService">
<option name="PROJECT_TEST_RUNNER" value="py.test" />
</component>
</module>
Draw the Track[by PyGMT]/.idea/inspectionProfiles/profiles_settings.xml
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<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>
Draw the Track[by PyGMT]/.idea/misc.xml
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+7
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="Black">
<option name="sdkName" value="Python 3.12" />
</component>
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (pygmt)" project-jdk-type="Python SDK" />
</project>
Draw the Track[by PyGMT]/.idea/modules.xml
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/GMT4SAT.iml" filepath="$PROJECT_DIR$/.idea/GMT4SAT.iml" />
</modules>
</component>
</project>
Draw the Track[by PyGMT]/LLA_result_for_PyGMT.txt
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Draw the Track[by PyGMT]/__pycache__/pyGMT.cpython-311.pyc
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Draw the Track[by PyGMT]/pyGMT.py
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import os
from pygmt import project
os.environ["GMT_LIBRARY_PATH"] = "C:/programs/gmt6/bin"
import pygmt
fig = pygmt.Figure()
fig.coast(region="d",projection="Cyl_stere/12c",land="white",water="#C6E2FF",borders="1/0.2p",shorelines="1/0.2p",frame="ag")
f = open("LLA_result_for_PyGMT.txt","r")
f.readline()
string = f.readline()
epoch = 0
while epoch < 2880:
flag = string[0:1]
epoch = int(string[1:5])
if flag == ">":
gpsnum = 0
while gpsnum != 36:
string = f.readline()
flag = string[0:1]
if flag =="G":
gpsnum = gpsnum + 1
sPRN = int(string[1:3])
B = float(string[10:20])
L = float(string[21:31])
if sPRN == 1:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 2:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 3:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 4:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 5:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 6:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 7:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 8:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 9:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 10:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 11:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 12:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 13:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 14:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 15:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 16:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 17:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 18:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 19:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 20:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 21:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 22:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 23:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 24:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 25:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 26:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 27:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 28:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 29:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 30:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 31:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if sPRN == 32:
fig.plot(x = L,y = B,style = "c0.015c",fill = "blue",pen = "blue")
if flag !="G":
break
elif flag != ">":
break
fig.show()
Ground Track of GPS Satellites(20220301-UTC)(MODIFY).pdf
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Ground Track of GPS Satellites(20220301-UTC).pdf
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Observation_Station_Site-Solving_by_Matlab/LLA_result_for_Matlab.txt
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Observation_Station_Site-Solving_by_Matlab/Position_Bias.png
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Observation_Station_Site-Solving_by_Matlab/Position_Bias_TGD.png
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Observation_Station_Site-Solving_by_Matlab/Station_Site_Solving.asv
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% 打开坐标文件
file=fopen('LLA_result_for_Matlab.txt');
sPRN = [];
satX = [];
satY = [];
satZ = [];
P_t1 = [];
P_t2 = [];
H = [];
TGD = [];
Dt = [];
sat_num = [];
C_V = 299792458;
f1 = 1575.42;
f2 = 1227.60;
satnum = 0;
eponum = 0;
% 设置测站粗略坐标和精确的经纬高数据
apX = -4052052.8310;
apY = 4212835.9820;
apZ = -2545104.4760;
apB = -0.4131213;%纬度
apL = 2.3367431;%经度
apH = 603.235;
% 逐行读取文件
while ~feof(file)
line = fgets(file);
flag_epo = extractBetween(line,1 ,1 );
% 判断历元标识
if strcmp(flag_epo, ">") == 1
eponum = str2double(extractBetween(line,2 ,5 ));
while eponum <= 2880
flag_sat = extractBetween(line,1 ,1);
% 判断卫星标识，读取卫星PRN号和XYZ坐标
if strcmp(flag_sat, "G") == 1
satnum = satnum + 1;
P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
if P_t1(eponum, satnum) ~= 0
sPRN(eponum, satnum) = str2double(extractBetween(line,2 ,3 ));
satX(eponum, satnum) = str2double(extractBetween(line,11 ,25 ));
satY(eponum, satnum) = str2double(extractBetween(line,11 + 16 ,25 + 16 ));
satZ(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 ,25 + 16 + 16 ));
P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
P_t2(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16));
H(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16));
TGD(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16 + 16));
Dt(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 + 16,25 + 16 + 16 + 16 + 16 + 16 + 16 + 17));
line = fgets(file);
end
if P_t1(eponum, satnum) == 0
satnum = satnum - 1;
line = fgets(file);
end
end
% 开头字符不是G，但是是>,判断为一个历元的起点，进行数据读取
if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 1
satnum = 0;
line = fgets(file);
continue;
end
% 开头字符既不是G，也不是>,判断为历元结束标志，跳出循环
if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 0 && ~feof(file)
sat_num(eponum) = satnum;
satnum = 0;
break;
end
end
end
if strcmp(flag_epo, ">") == 0
continue;
end
end
fclose(file);
% 平差计算测站位置和接收机钟差解算
for i = 1:1:eponum
if sat_num(i) >= 4
X = zeros(4, 1);
P = zeros(sat_num(i), sat_num(i));
B = zeros(sat_num(i), 4);
l = zeros(sat_num(i), 1);
X_R = zeros(3, 1);
DeltaXYZ = zeros(3, 1);
% 每个历元构成系数矩阵
for j = 1:1:sat_num(i)
R = sqrt((satX(i, j)-apX)^2+(satY(i, j)-apY)^2+(satZ(i, j)-apZ)^2);
B(j, 1) = -((satX(i, j) - apX) / R);
B(j, 2) = -((satY(i, j) - apY) / R);
B(j, 3) = -((satZ(i, j) - apZ) / R);
B(j, 4) = 1;
dtrop = 2.47/sind(H(i, j))+0.0121;
% % % % % % % 理想化的Saastamoinen模型/对流层改正
% P0 = 1013.25; e0 = 11.69; T0 = 288.15;
% % 求大气压强
% p = P0 * (1.0 - 0.0068 / T0 / apH)^5;
% % 求开尔文温度
% T = 288.15 - 0.0068 * apH;
% % 水汽压计算
% if apH > 11000
% e = 0;
% end
% if apH <= 11000
% e = e0 * (1.0 - 0.0068 * apH / T0)^4;
% end
% % 静力学延迟
% dtrop = 0.002277 * p / (1.0 - 0.00266 * cosd(2 * H(i, j)) - 0.00028 * apH * 1e-3) ;
% % % % % % % % % % % % % % % % % % % % % % % % %
if P_t2(i, j) ~= 0
% 双频组合消除电离层延迟
P_t = (f1^2) / (f1^2 - f2^2) * P_t1(i, j) - (f2^2) / (f1^2 - f2^2) * P_t2(i, j);
end
if P_t2(i, j) == 0
P_t = P_t1(i, j);
end
l(j, 1) = P_t - R + C_V * Dt(i,j) - dtrop;
if H(i, j)<5;
H(i, j) = H(i, j);
end;
P(j, j) = sind(H(i, j))^2;
end
apX_R = apX;%迭代坐标传参
apY_R = apY;
apZ_R = apZ;
% 平差计算得到改正数并进行迭代计算
while abs(apX_R - X_R(1,1)) > 0.0001 && abs(apY_R - X_R(2,1)) > 0.0001 && abs(apZ_R - X_R(3,1)) > 0.0001
apX_R = X(1,1);
apY_R = X(2,1);
apZ_R = X(3,1);
Q=inv(B.'*P*B);
D_X=Q*B.'*P*l;%坐标改正数
X(1,1) = apX + D_X(1,1);
X(2,1) = apY + D_X(2,1);
X(3,1) = apZ + D_X(3,1);%改正后测站坐标
X_R(1,1) = X(1,1);
X_R(2,1) = X(2,1);
X_R(3,1) = X(3,1);
end
GDOP(1,i) = sqrt(trace(Q));
StationCLK(1,i) = D_X(4, 1);
DeltaXYZ(1,1) = X(1,1) - apX;
DeltaXYZ(2,1) = X(2,1) - apY;
DeltaXYZ(3,1) = X(3,1) - apZ;
S = [
-sin(apL), cos(apL), 0;
-sin(apB)*cos(apL), -sin(apB)*sin(apL), cos(apB);
cos(apB)*cos(apL), cos(apB)*sin(apL), sin(apB)
];
ENU_R = S * DeltaXYZ;
ENU(1,i) = ENU_R(1,1);
ENU(2,i) = ENU_R(2,1);
ENU(3,i) = ENU_R(3,1);
end
end
Observation_Station_Site-Solving_by_Matlab/Station_Site_Solving.m
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% 打开坐标文件
file=fopen('LLA_result_for_Matlab.txt');
sPRN = [];
satX = [];
satY = [];
satZ = [];
P_t1 = [];
P_t2 = [];
H = [];
TGD = [];
Dt = [];
sat_num = [];
C_V = 299792458;
f1 = 1575.42;
f2 = 1227.60;
satnum = 0;
eponum = 0;
% 设置测站粗略坐标和精确的经纬高数据
apX = -4052052.8310;
apY = 4212835.9820;
apZ = -2545104.4760;
apB = -0.4131213;%纬度
apL = 2.3367431;%经度
apH = 603.235;
% 逐行读取文件
while ~feof(file)
line = fgets(file);
flag_epo = extractBetween(line,1 ,1 );
% 判断历元标识
if strcmp(flag_epo, ">") == 1
eponum = str2double(extractBetween(line,2 ,5 ));
while eponum <= 2880
flag_sat = extractBetween(line,1 ,1);
% 判断卫星标识，读取卫星PRN号和XYZ坐标
if strcmp(flag_sat, "G") == 1
satnum = satnum + 1;
P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
if P_t1(eponum, satnum) ~= 0
sPRN(eponum, satnum) = str2double(extractBetween(line,2 ,3 ));
satX(eponum, satnum) = str2double(extractBetween(line,11 ,25 ));
satY(eponum, satnum) = str2double(extractBetween(line,11 + 16 ,25 + 16 ));
satZ(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 ,25 + 16 + 16 ));
P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
P_t2(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16));
H(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16));
TGD(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16 + 16));
Dt(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 + 16,25 + 16 + 16 + 16 + 16 + 16 + 16 + 16));
line = fgets(file);
end
if P_t1(eponum, satnum) == 0
satnum = satnum - 1;
line = fgets(file);
end
end
% 开头字符不是G，但是是>,判断为一个历元的起点，进行数据读取
if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 1
satnum = 0;
line = fgets(file);
continue;
end
% 开头字符既不是G，也不是>,判断为历元结束标志，跳出循环
if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 0 && ~feof(file)
sat_num(eponum) = satnum;
satnum = 0;
break;
end
end
end
if strcmp(flag_epo, ">") == 0
continue;
end
end
fclose(file);
% 平差计算测站位置和接收机钟差解算
for i = 1:1:eponum
if sat_num(i) >= 4
X = zeros(4, 1);
P = zeros(sat_num(i), sat_num(i));
B = zeros(sat_num(i), 4);
l = zeros(sat_num(i), 1);
X_R = zeros(3, 1);
DeltaXYZ = zeros(3, 1);
% 每个历元构成系数矩阵
for j = 1:1:sat_num(i)
R = sqrt((satX(i, j)-apX)^2+(satY(i, j)-apY)^2+(satZ(i, j)-apZ)^2);
B(j, 1) = -((satX(i, j) - apX) / R);
B(j, 2) = -((satY(i, j) - apY) / R);
B(j, 3) = -((satZ(i, j) - apZ) / R);
B(j, 4) = 1;
dtrop = 2.47/sind(H(i, j))+0.0121;
% % % % % % % 理想化的Saastamoinen模型/对流层改正
% P0 = 1013.25; e0 = 11.69; T0 = 288.15;
% % 求大气压强
% p = P0 * (1.0 - 0.0068 / T0 / apH)^5;
% % 求开尔文温度
% T = 288.15 - 0.0068 * apH;
% % 水汽压计算
% if apH > 11000
% e = 0;
% end
% if apH <= 11000
% e = e0 * (1.0 - 0.0068 * apH / T0)^4;
% end
% % 静力学延迟
% dtrop = 0.002277 * p / (1.0 - 0.00266 * cosd(2 * H(i, j)) - 0.00028 * apH * 1e-3) ;
% % % % % % % % % % % % % % % % % % % % % % % % %
if P_t2(i, j) ~= 0
% 双频组合消除电离层延迟
P_t = (f1^2) / (f1^2 - f2^2) * P_t1(i, j) - (f2^2) / (f1^2 - f2^2) * P_t2(i, j);
end
if P_t2(i, j) == 0
P_t = P_t1(i, j);
end
l(j, 1) = P_t - R + C_V * Dt(i,j) - dtrop;
if H(i, j)<5;
H(i, j) = H(i, j);
end;
P(j, j) = sind(H(i, j))^2;
end
apX_R = apX;%迭代坐标传参
apY_R = apY;
apZ_R = apZ;
% 平差计算得到改正数并进行迭代计算
while abs(apX_R - X_R(1,1)) > 0.0001 && abs(apY_R - X_R(2,1)) > 0.0001 && abs(apZ_R - X_R(3,1)) > 0.0001
apX_R = X(1,1);
apY_R = X(2,1);
apZ_R = X(3,1);
Q=inv(B.'*P*B);
D_X=Q*B.'*P*l;%坐标改正数
X(1,1) = apX + D_X(1,1);
X(2,1) = apY + D_X(2,1);
X(3,1) = apZ + D_X(3,1);%改正后测站坐标
X_R(1,1) = X(1,1);
X_R(2,1) = X(2,1);
X_R(3,1) = X(3,1);
end
GDOP(1,i) = sqrt(trace(Q));
StationCLK(1,i) = D_X(4, 1);
DeltaXYZ(1,1) = X(1,1) - apX;
DeltaXYZ(2,1) = X(2,1) - apY;
DeltaXYZ(3,1) = X(3,1) - apZ;
S = [
-sin(apL), cos(apL), 0;
-sin(apB)*cos(apL), -sin(apB)*sin(apL), cos(apB);
cos(apB)*cos(apL), cos(apB)*sin(apL), sin(apB)
];
ENU_R = S * DeltaXYZ;
ENU(1,i) = ENU_R(1,1);
ENU(2,i) = ENU_R(2,1);
ENU(3,i) = ENU_R(3,1);
end
end
Pos_out/LLA_result_for_read.txt
+28733
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alic0600.22o
+209828
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brdm0600.22p
+97388
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cal_mod.h
+271
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#ifndef _CAL_MOD_H_
#define _CAL_MOD_H_
#include<stdio.h>
#include<stdlib.h>
#include<math.h>
#include"read.h"
#include"2gpst.h"
#include"select_epo.h"
FILE * result_file = NULL;
#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,
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
double n_0 = sqrt(GM) / pow(nav_b[best_epoch].sqrtA,3);
double n = n_0 + nav_b[best_epoch].deltan; //计算卫星运行平均角速度
double tk = T_S - nav_b[best_epoch].TOE;//计算归化时间
if (tk > 32400)tk -= 604800;
else if (tk < -32400)tk += 604800;//规划时间改正
double Ms = nav_b[best_epoch].M0 + n * tk;//计算卫星发射时卫星的平近角M
double Es = Ms, E0;//迭代计算偏近点角
do
{
E0 = Es;
Es = Ms + nav_b[best_epoch].e * sin(Es);
} while (fabs(Es - E0) > 1.0e-5);//迭代计算偏近点角
//计算真近点角
double cosfs = (cos(Es) - nav_b[best_epoch].e) / (1 - nav_b[best_epoch].e * cos(Es));
double sinfs = (sqrt(1 - pow(nav_b[best_epoch].e, 2)) * sin(Es)) / (1 - nav_b[best_epoch].e * cos(Es));
double fs = atan2(sinfs, cosfs);
double u0 = fs + nav_b[best_epoch].omega;//计算升交角距
//计算摄动改正项
double epsilon_u = nav_b[best_epoch].Cus * sin(2 * u0) + nav_b[best_epoch].Cuc * cos(2 * u0);
double epsilon_r = nav_b[best_epoch].Crs * sin(2 * u0) + nav_b[best_epoch].Crc * cos(2 * u0);
double epsilon_i = nav_b[best_epoch].Cis * sin(2 * u0) + nav_b[best_epoch].Cic * cos(2 * u0);
double u = u0 + epsilon_u;//改正后的升交角距
double r = pow(nav_b[best_epoch].sqrtA, 2) * (1 - nav_b[best_epoch].e * cos(Es)) + epsilon_r;//改正后的轨道向径
double i = nav_b[best_epoch].i0 + epsilon_i + nav_b[best_epoch].IDOT * tk;//改正后的轨道倾角
double x = r * cos(u);
double y = r * sin(u);//卫星在轨道平面坐标系中的坐标
double l = nav_b[best_epoch].OMEGA + (nav_b[best_epoch].deltaomega - Earth_e) * tk - Earth_e * nav_b[best_epoch].TOE;
//计算升交点经度
double X = x * cos(l) - y * cos(i) * sin(l);
double Y = x * sin(l) + y * cos(i) * cos(l);
double Z = y * sin(i);//卫星在地固系下的直角坐标
pos_t[eponum].X[sPRN] = cos(Earth_e * pos_t[eponum].delta_t[sPRN]) * X + sin(Earth_e * pos_t[eponum].delta_t[sPRN]) * Y;
pos_t[eponum].Y[sPRN] = -sin(Earth_e * pos_t[eponum].delta_t[sPRN]) * X + cos(Earth_e * pos_t[eponum].delta_t[sPRN]) * Y;
pos_t[eponum].Z[sPRN] = Z;
double R = sqrt(pow(pos_t[eponum].X[sPRN] - obs_h->apX, 2) + pow(pos_t[eponum].Y[sPRN] - obs_h->apY, 2) + pow(pos_t[eponum].Z[sPRN] - obs_h->apY, 2));
pos_t[eponum].deltat[sPRN] = pos_t[eponum].delta_t[sPRN];
pos_t[eponum].delta_t[sPRN] = R / C_V;
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(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)
{
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, "\r>%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);
result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+");
fprintf(result_file, "\r>%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);
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.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);
for (int j = 0; j < obs_e[i].gps_num; j++)//第j颗GPS卫星
{
int y = obs_e[i].y; int m = obs_e[i].m; int d = obs_e[i].d;
double h = obs_e[i].h; int min = obs_e[i].min; double sec = obs_e[i].sec;
//转换为GPS周内秒
double GPSsec = TimetoGPSsec(y, m, d, h, min, sec);
int sPRN = obs_e[i].sPRN_GPS[j];
//遍历N文件GPS卫星数据块，寻找最佳历元
int best_epoch = select_epoch(GPSsec, sPRN, nav_b, gps_satnum);
//观测时刻 - 参考时刻
double detat_toc = GPSsec - nav_b[best_epoch].TOE;
station[i].delta_TR == 0.0;
//计算近似的信号传播时间,接收机钟差已初始化为0(伪距/光速-接收机钟差+卫星钟差)
pos_t[i].delta_t[sPRN] = (obs_b[i].obs_gps[j][C1] / C_V) - station[i].delta_TR + nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * detat_toc + nav_b[best_epoch].sa2 * pow(detat_toc, 2);
//判断收敛
pos_t[i].deltat[sPRN] = 0.0;
while (fabs(pos_t[i].delta_t[sPRN] - pos_t[i].deltat[sPRN]) > 0.00001){
gps_pos( i, sPRN, best_epoch, GPSsec, nav_b, obs_h, pos_t);
}
//地固坐标系转经纬大地高坐标系******************************************************//
double X = pos_t[i].X[sPRN];
double Y = pos_t[i].Y[sPRN];
double Z = pos_t[i].Z[sPRN];
double B = 0.0, N = 0.0, H = 0.0, R0, R1, deltaH, deltaB;
R0 = sqrt(pow(X, 2) + pow(Y, 2));
R1 = sqrt(pow(X, 2) + pow(Y, 2) + pow(Z, 2));
//经度直接求解
blh->L = atan2(Y, X) * 57.295779513;
//迭代求大地维度和大地高
N = a;
H = R1 - a;
B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H));
do
{
deltaH = N;//判断收敛所用
deltaB = B;
N = a / sqrt(1 - e2 * pow(sin(B), 2));
H = R0 / cos(B) - N;
B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H));
} while (fabs(deltaH - H) > 1.0e-3 && fabs(deltaB - B) > 1.0e-9);
blh->B = B * 57.295779513;
blh->H = H ;
//*******************************************************************************//
//地固坐标系转经纬大地高坐标系******************************************************//
X = obs_h->apX;
Y = obs_h->apY;
Z = obs_h->apZ;
B = 0.0, N = 0.0, H = 0.0;
R0 = sqrt(pow(X, 2) + pow(Y, 2));
R1 = sqrt(pow(X, 2) + pow(Y, 2) + pow(Z, 2));
//经度直接求解
station->L = atan2(Y, X);
//迭代求大地维度和大地高
N = a;
H = R1 - a;
B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H));
do
{
deltaH = N;//判断收敛所用
deltaB = B;
N = a / sqrt(1 - e2 * pow(sin(B), 2));
H = R0 / cos(B) - N;
B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H));
} while (fabs(deltaH - H) > 1.0e-3 && fabs(deltaB - B) > 1.0e-9);
station->B = B;
station->H = H;
//*******************************************************************************//
//大地高坐标系转东北天坐标系*******************************************************//
double sinL = sin(station->L);
double cosL = cos(station->L);
double sinB = sin(station->B);
double cosB = cos(station->B);
enu->E = -sinL*(pos_t[i].X[sPRN] - obs_h->apX) + cosL*(pos_t[i].Y[sPRN] - obs_h->apY);
enu->N = -sinB*cosL*(pos_t[i].X[sPRN] - obs_h->apX) - sinB*sinL*(pos_t[i].Y[sPRN] - obs_h->apY) + cosB*(pos_t[i].Z[sPRN] - obs_h->apZ);
enu->U = cosB*cosL*(pos_t[i].X[sPRN] - obs_h->apX) + cosB*sinL*(pos_t[i].Y[sPRN] - obs_h->apY) + sinB*(pos_t[i].Z[sPRN] - obs_h->apZ);
//*******************************************************************************//
//卫星方位角a，高度角h，向径r计算**************************************************//
rah->H = atan2(enu->U, sqrt(enu->E * enu->E + enu->N * enu->N)) * 57.295779513;
rah->A = atan2(enu->E, enu->U) * 57.295779513;
if (rah->A < 0)
rah->A += 2 * PI;
if (rah->A > 2 * PI)
rah->A -= 2 * PI;
rah->R = sqrt(enu->E * enu->E + enu->N * enu->N + enu->U * enu->U);
//*******************************************************************************//
if (blh->H < 0 || nav_b[best_epoch].sHEA != 0)
{
break;
}
else
{ int B_sig = blh->B / fabs(blh->B);//符号判断
blh->B_d = (int)(blh->B);//转换为度分秒
blh->B_m = (int)((blh->B - blh->B_d) * 60);//分秒去除符号格式
blh->B_s = (int)(((blh->B - blh->B_d) * 60 - blh->B_m) * 60);
blh->B_m = blh->B_m * B_sig;
blh->B_s = blh->B_s * B_sig;
int L_sig = blh->L / fabs(blh->L);
blh->L_d = (int)(blh->L);//转换为度分秒
blh->L_m = (int)((blh->L - blh->L_d) * 60);
blh->L_s = (int)(((blh->L - blh->L_d) * 60 - blh->L_m) * 60);
blh->L_m = blh->L_m * L_sig;
blh->L_s = blh->L_s * L_sig;
result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+");
fprintf(result_file, "\nG%02d[sPRN] %4d° %02d′ %02d″ %4d° %02d′ %02d″ %15.05f",sPRN, blh->B_d, blh->B_m, blh->B_s, blh->L_d, blh->L_m, blh->L_s, blh->H);
fclose(result_file);
result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+");
fprintf(result_file, "\nG%02d[sPRN] %10.05f %10.05f %15.05f",sPRN, blh->B, blh->L, blh->H);
fclose(result_file);
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
fprintf(result_file, "\nG%02d[sPRN] %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %15.12f %16.13f"
,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);
}
}
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
fprintf(result_file, "\n");
fclose(result_file);
}
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
fprintf(result_file, "\nEND");
fclose(result_file);
}
#endif
main.c
+64
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@@ -0,0 +1,64 @@
//仅支持{ Ver 3.04 }版本RENIX观测值文件与广播星历文件读取
#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include"read.h"
#include"cal_mod.h"
int main(void)
{
//数据读取
FILE * fp_nav = NULL;//导航星历文件指针
FILE * fp_obs = NULL;//观测值文件指针
pstation station = NULL;
ppos_t pos_t = NULL;
pblh blh = NULL;
penu enu = NULL;
prah rah = NULL;
pnav_head nav_h = NULL;
pnav_body nav_b = NULL;
pobs_head obs_h = NULL;
pobs_epoch obs_e = NULL;
pobs_body obs_b = NULL;//创建结构体指针，并将其初始化为空
//O文件读取
fp_obs = fopen("alic0600.22o", "r");//以只读的方式打开O文件
int o_epochnum = get_epochnum(fp_obs);//O文件历元数
rewind(fp_obs);
obs_h = (pobs_head)malloc(sizeof(obs_head));//给O文件头开辟空间
obs_e = (pobs_epoch)malloc(sizeof(obs_epoch) * o_epochnum);
obs_b = (pobs_body)malloc(sizeof(obs_body) * o_epochnum);
if (obs_h && obs_e && obs_b)
{
read_o_h(fp_obs, obs_h);//读取O文件头
read_o_b(fp_obs, obs_e, obs_b, obs_h->obstypenum_gps, obs_h->obstypenum_bds);//读取O数据块
}
fclose(fp_obs);//关闭O文件
//N文件读取
fp_nav = fopen("brdm0600.22p", "r");//以只读的方式打开N文件
int gps_satnum = getgpssatnum(fp_nav);//获取导航文件GPS卫星数据块数
rewind(fp_nav);//将文件指针返回值起始位置
nav_h = (pnav_head)malloc(sizeof(nav_head));//给N文件头开辟空间
nav_b = (pnav_body)malloc(sizeof(nav_body) * gps_satnum * 20);
if (nav_h && nav_b)
{
read_n_h(fp_nav, nav_h);//读取N头文件
read_n_b(fp_nav, nav_b);//读取N数据块
}
fclose(fp_nav);//关闭N文件
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);
sat_gps_pos_clac(nav_b, obs_e, obs_b, obs_h, station, pos_t, blh, enu, rah, o_epochnum, gps_satnum);
return 0;
}
main.exe
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read.h
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#ifndef _READ_H_
#define _READ_H_
#include<stdio.h>
#include<string.h>
#define MAXRINEX 1000//一行最大字符数
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';
}
}
//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;
}
//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)
{
double value = 0.0;
char str[256] = { 0 };
char* p = str;
/************************************
* 当出现以下三种情况报错，返回0.0
* 1.起始位置<0
* 2.读取字符串个数<i
* 3.str里面存放的字节数<n
*************************************/
if (i < 0 || (int)strlen(buff) < i || (int)sizeof(str) - 1 < n)
{
return 0.0;
}
for (buff += i; *buff && --n >= 0; buff++)
{
//三目操作符：D和d为文件中科学计数法部分，将其转换成二进制能读懂的e
*p++ = ((*buff == 'D' || *buff == 'd') ? 'e' : *buff);
}
*p = '\0';
//三目操作符，将str中存放的数以格式化读取到value中。
return sscanf(str, "%lf", &value) == 1 ? value : 0.0;
}
//导航头文件结构体
typedef struct nav_head
{
double ver;//rinex 版本号
char type[20];//读取的数据类型
double ION_GPSA[4];//8个电离层参数
double ION_GPSB[4];
double ION_BDSA[4];//8个电离层参数
double ION_BDSB[4];
double ION_QZSA[4];//8个电离层参数
double ION_QZSB[4];
double ION_IRNA[4];//8个电离层参数
double ION_IRNB[4];
double GPUT[4];
double GLUT[4];
double GAUT[4];
double BDUT[4];
double QZUT[4];
double IRUT[4];
double SBUT[4];
int leap;
}nav_head, *pnav_head;
//导航数据结构体
typedef struct nav_body
{
//数据块第一行内容：
int sPRN;//卫星PRN号
//历元：TOC中卫星钟的参考时刻
int TOC_Y;//年
int TOC_M;//月
int TOC_D;//日
int TOC_H;//时
int TOC_Min;//分
int TOC_Sec;//秒
double sa0;//卫星钟差
double sa1;//卫星钟偏
double sa2;//卫星钟漂
//数据块第二行内容：
double IODE;//数据、星历发布时间(数据期龄)
double Crs;//轨道半径的正弦调和改正项的振幅（单位：m）
double deltan;//卫星平均运动速率与计算值之差(rad/s)
double M0;//参考时间的平近点角(rad)
//数据块第三行内容：
double Cuc;//维度幅角的余弦调和改正项的振幅(rad)
double e;//轨道偏心率
double Cus;//轨道幅角的正弦调和改正项的振幅(rad)
double sqrtA;//长半轴平方根
//数据块第四行内容：
double TOE;//星历的参考时刻(GPS周内秒)
double Cic;//轨道倾角的余弦调和改正项的振幅(rad)
double OMEGA;//参考时刻的升交点赤经
double Cis;//维度倾角的正弦调和改正项的振幅(rad)
//数据块第五行内容：
double i0;//参考时间的轨道倾角(rad)
double Crc;//轨道平径的余弦调和改正项的振幅(m)
double omega;//近地点角距
double deltaomega;//升交点赤经变化率(rad)
//数据块第六行内容：
double IDOT;//近地点角距(rad/s)
double L2code;//L2上的码
double GPSweek;//GPS周,于TOE一同表示
double L2Pflag;//L2,p码数据标记
//数据块第七行内容
double sACC;//卫星精度
double sHEA;//卫星健康状态
double TGD;//sec
double IODC;//钟的数据龄期
//数据块第八行内容
double TTN;//电文发送时间
double fit;//拟合区间
double spare1;//空
double spare2;//空
}nav_body, *pnav_body;
//观测值头文件
typedef struct obs_head
{
double ver;//RINEX文件版本号
char type[30];//文件类型
double apX;//测站近似位置XYZ（WGS84）
double apY;
double apZ;
double ANTH;//天线高
double ANTdeltaE;//天线中心对于测站标志在东方向上的偏移量
double ANTdeltaN;//天线中心对于测站标志在北方向上的偏移量
int WAFL1;//缺省的L1载波的波长因子
int WAFL2;//缺省的L2载波的波长因子
int WAFflag;
int obstypenum_gps;//GPS观测值类型数量
int obstypenum_bds;
char obstype_gps[36];//rinex3.04GPS观测值类型列表
char obstype_bds[36];
double interval;//观测值的历元间隔
int f_y;//第一个观测记录的时刻
int f_m;
int f_d;
int f_h;
int f_min;
double f_sec;
char tsys[5];//时间系统
}obs_head,*pobs_head;
//观测值历元数据结构体
typedef struct obs_epoch
{
//观测历元时刻
int y;
int m;
int d;
int h;
int min;
double sec;
int p_flag;//历元标志
int sat_num;//当前历元所观测到的卫星数量
int gps_num;//当前历元所观测到的GPS卫星数量
int bds_num;//当前历元所观测到的BDS卫星数量
int sPRN[84];//当前历元所能观测到的卫星的PRN列表
int sPRN_GPS[25];
int sPRN_BDS[36];
}obs_epoch,*pobs_epoch;
//观测值数据结构体
typedef struct obs_body
{
double obs_gps[100][24];//GPS观测值
double obs_bds[100][24];//BDS观测值
}obs_body,*pobs_body;
//读取O文件******************************************************************************************************//
//获取O文件历元数
extern int get_epochnum(FILE* fp_obs)
{
int n = 0;//记录历元数
int satnum = 0;//记录每个历元的卫星数
char flag;//存放标志符号'>'
char buff[MAXRINEX];//存放读取的字符串
while (fgets(buff, MAXRINEX, fp_obs))
{
satnum = (int)strtonum(buff, 33, 2);
strncpy(&flag, buff + 0, 1);
if (flag == '>')
{
n++;
}
}
return n;
}
//读取O文件数据头
extern void read_o_h(FILE* fp_obs, pobs_head obs_h)
{
char buff[MAXRINEX] = { 0 };
char flag = { 0 };
char* lable = buff + 60;
int i = 0;
int j = 0;
while (fgets(buff, MAXRINEX, fp_obs))
{
if (strstr(lable, "RINEX VERSION / TYPE"))
{
obs_h->ver = strtonum(buff, 0, 9);
strncpy(obs_h->type, buff + 20, 30);
continue;
}
else if (strstr(lable, "APPROX POSITION XYZ"))
{
obs_h->apX = strtonum(buff, 0, 14);
obs_h->apY = strtonum(buff, 0 + 14, 14);
obs_h->apZ = strtonum(buff, 0 + 14 + 14, 14);
continue;
}
else if (strstr(lable, "ANTENNA: DELTA H/E/N"))
{
obs_h->ANTH = strtonum(buff, 0, 14);
obs_h->ANTdeltaE = strtonum(buff, 14, 14);
obs_h->ANTdeltaN = strtonum(buff, 14 + 14, 14);
continue;
}
else if (strstr(lable, "WAVELENGTH FACT L1/2"))
{
obs_h->WAFL1 = (int)strtonum(buff, 0, 6);
obs_h->WAFL2 = (int)strtonum(buff, 6, 6);
obs_h->WAFflag = (int)strtonum(buff, 6 + 6, 6);
continue;
}
else if (strstr(lable, "SYS / # / OBS TYPES"))
{
char flag = {0};
strncpy(&flag, buff + 0, 1);
if (flag == 'G')
{
obs_h->obstypenum_gps = (int)strtonum(buff, 4, 2);
if (obs_h->obstypenum_gps <= 13)
{
for (i = 0; i < obs_h->obstypenum_gps; i++)
{
strncpy(&(obs_h->obstype_gps[i]), buff + 7 + 4 * i, 3);
}
}
else if (obs_h->obstypenum_gps > 13)
{
for (i = 0; i < 13; i++)
{
strncpy(&(obs_h->obstype_gps[i]), buff + 7 + 4 * i, 3);
}
fgets(buff, MAXRINEX, fp_obs);
for (i = 0; i < obs_h->obstypenum_gps - 13; i++)
{
strncpy(&(obs_h->obstype_gps[i + 13]), buff + 7 + 4 * i, 3);
}
}
continue;
}
if (flag == 'C')
{
obs_h->obstypenum_bds = (int)strtonum(buff, 4, 2);
if (obs_h->obstypenum_bds <= 13)
{
for (i = 0; i < obs_h->obstypenum_bds; i++)
{
strncpy(&(obs_h->obstype_bds[i]), buff + 7 + 4 * i, 3);
}
}
else if (obs_h->obstypenum_bds > 13)
{
for (i = 0; i < 13; i++)
{
strncpy(&(obs_h->obstype_bds[i]), buff + 7 + 4 * i, 3);
}
fgets(buff, MAXRINEX, fp_obs);
for (i = 0; i < obs_h->obstypenum_bds - 13; i++)
{
strncpy(&(obs_h->obstype_bds[i + 13]), buff + 7 + 4 * i, 3);
}
}
continue;
}
}
else if (strstr(lable, "INTERVAL"))
{
obs_h->interval = strtonum(buff, 0, 11);
continue;
}
else if (strstr(lable, "TIME OF FIRST OBS"))
{
obs_h->f_y = (int)strtonum(buff, 2, 4);
obs_h->f_m = (int)strtonum(buff, 2 + 6, 4);
obs_h->f_d = (int)strtonum(buff, 2 + 6 + 6, 4);
obs_h->f_h = (int)strtonum(buff, 2 + 6 + 6 + 6, 4);
obs_h->f_min = (int)strtonum(buff, 2 + 6 + 6 + 6 + 6, 4);
obs_h->f_sec = strtonum(buff, 2 + 6 + 6 + 6 + 6 + 6, 9);
strncpy(obs_h->tsys, buff + 6 + 6 + 6 + 6 + 6 + 18, 3);
continue;
}
else if (strstr(lable, "END OF HEADER"))
break;
}
}
//读取O文件数据块
extern void read_o_b(FILE* fp_obs, pobs_epoch obs_e, pobs_body obs_b, int type_gps, int type_bds)
{
int n = 0;//历元数
char buff[MAXRINEX] = { 0 };
char flag = { 0 };//判断符号
while (fgets(buff, MAXRINEX, fp_obs))
{
int i = 0;//第i颗卫星
int j_g = 0;//第j颗GPS卫星
int k_g = 0;//第j颗GPS卫星的第k个观测值
int j_c = 0;//第j颗BDS卫星
int k_c = 0;//第j颗BDS卫星的第k个观测值
obs_e[n].gps_num = 0;
obs_e[n].bds_num = 0;
//按照格式将历元参考时间依次存入
//除秒以外，均转换成整型
obs_e[n].y = (int)strtonum(buff, 2, 4);
obs_e[n].m = (int)strtonum(buff, 7, 2);
obs_e[n].d = (int)strtonum(buff, 10, 2);
obs_e[n].h = (int)strtonum(buff, 13, 2);
obs_e[n].min = (int)strtonum(buff, 16, 2);
obs_e[n].sec = strtonum(buff, 19, 10);
obs_e[n].p_flag = (int)strtonum(buff, 31, 1);
//输入卫星数
obs_e[n].sat_num = strtonum(buff, 33, 3);
strncpy(&flag, buff + 0, 1);
for (i = 0; i < obs_e[n].sat_num; i++)
{
//判断是否为GPS卫星
if (flag == 'G')//获取flag标识，判断GPS卫星为真，读取该卫星PRN号
{
obs_e[n].sPRN[i] = strtonum(buff, 1, 2);//将卫星编号存储到第n个历元中，第i个PRN位置
obs_e[n].sPRN_GPS[j_g] = obs_e[n].sPRN[i];//将GPS卫星编号与总观测卫星号关联
for (k_g = 0; k_g < type_gps; k_g++)
{
obs_b[n].obs_gps[j_g][k_g] = strtonum(buff, 3 + 16 * k_g, 14);
}
obs_e[n].gps_num++; j_g++;
fgets(buff, MAXRINEX, fp_obs);
strncpy(&flag, buff + 0, 1);
}
else if (flag != 'G')//获取flag标识，判断GPS卫星为否
{
//判断是否为BDS卫星
if (flag == 'C')//获取flag标识，判断BDS卫星为真，读取该卫星PRN号
{
obs_e[n].sPRN[i] = strtonum(buff, 1, 2);//将卫星编号存储到第n个历元中，第i个PRN位置
obs_e[n].sPRN_BDS[j_c] = obs_e[n].sPRN[i];//将BDS卫星编号与总观测卫星号关联
for (k_c = 0; k_c < type_bds; k_c++)
{
obs_b[n].obs_bds[j_c][k_c] = strtonum(buff, 3 + 16 * k_c, 14);
}
obs_e[n].bds_num++; j_c++;
fgets(buff, MAXRINEX, fp_obs);
strncpy(&flag, buff + 0, 1);
}
else if (flag != 'C')//获取flag标识，判断BDS卫星为真，读取该卫星PRN号
{
fgets(buff, MAXRINEX, fp_obs);
strncpy(&flag, buff + 0, 1);
}
}
}
n++;
}
}
//读取N文件***************************************************************************************************************//
//读取N文件数据头
void read_n_h(FILE* fp_nav, pnav_head nav_h)
{
char buff[MAXRINEX] = { 0 };
char* lable = buff;
int i = 0;
int j = 0;
while (fgets(buff, MAXRINEX, fp_nav))
{
if (strstr(lable, "RINEX VERSION / TYPE"))
{
nav_h->ver = strtonum(buff, 0, 9);
strncpy((nav_h->type), buff + 20, 15);
continue;
}
else if (strstr(lable, "GPSA"))
{
nav_h->ION_GPSA[0] = strtonum(buff, 6, 12);
nav_h->ION_GPSA[1] = strtonum(buff, 6 + 12, 12);
nav_h->ION_GPSA[2] = strtonum(buff, 6 + 12 + 12, 12);
nav_h->ION_GPSA[3] = strtonum(buff, 6 + 12 + 12 + 12, 12);
continue;
}
else if (strstr(lable, "GPSB"))
{
nav_h->ION_GPSB[0] = strtonum(buff, 6, 12);
nav_h->ION_GPSB[1] = strtonum(buff, 6 + 12, 12);
nav_h->ION_GPSB[2] = strtonum(buff, 6 + 12 + 12, 12);
nav_h->ION_GPSB[3] = strtonum(buff, 6 + 12 + 12 + 12, 12);
continue;
}
else if (strstr(lable, "BDSA"))
{
nav_h->ION_BDSA[0] = strtonum(buff, 6, 12);
nav_h->ION_BDSA[1] = strtonum(buff, 6 + 12, 12);
nav_h->ION_BDSA[2] = strtonum(buff, 6 + 12 + 12, 12);
nav_h->ION_BDSA[3] = strtonum(buff, 6 + 12 + 12 + 12, 12);
continue;
}
else if (strstr(lable, "BDSB"))
{
nav_h->ION_BDSB[0] = strtonum(buff, 6, 12);
nav_h->ION_BDSB[1] = strtonum(buff, 6 + 12, 12);
nav_h->ION_BDSB[2] = strtonum(buff, 6 + 12 + 12, 12);
nav_h->ION_BDSB[3] = strtonum(buff, 6 + 12 + 12 + 12, 12);
continue;
}
else if (strstr(lable, "BDUT"))
{
nav_h->BDUT[0] = strtonum(buff, 5, 17);
nav_h->BDUT[1] = strtonum(buff, 5 + 17, 16);
nav_h->BDUT[2] = strtonum(buff, 5 + 17 + 16, 7);
nav_h->BDUT[3] = strtonum(buff, 5 + 17 + 16 + 7, 5);
continue;
}
else if (strstr(lable, "GPUT"))
{
nav_h->GPUT[0] = strtonum(buff, 5, 17);
nav_h->GPUT[1] = strtonum(buff, 5 + 17, 16);
nav_h->GPUT[2] = strtonum(buff, 5 + 17 + 16, 7);
nav_h->GPUT[3] = strtonum(buff, 5 + 17 + 16 + 7, 5);
continue;
}
else if (strstr(lable, "LEAP SECONDS"))
{
nav_h->leap = (int)strtonum(buff, 4, 2);
}
else if (strstr(lable, "END OF HEADER"))//头文件读取结束
break;
}
}
//读取N文件数据块
void read_n_b(FILE* fp_nav, pnav_body nav_b)
{
int i_g = 0;//第i_g个GPS卫星数据
int i_c = 0;//第i_c个BDS卫星数据
char buff[84] = { 0 };
char flag = { 0 };//判断符号
while (fgets(buff, MAXRINEX, fp_nav))
{
int j_g = 0;//数据块的第j_g行数据
int j_c = 0;//数据块的第j_C行数据
strncpy(&flag, buff + 0, 1);
if(flag == 'G')
{
for (j_g = 0; j_g < 8; j_g++)//读取第i_g颗 GPS卫星广播星历("总共包含8行数据") 数据块的第j_g行数据
{
switch (j_g)
{
case 0:
nav_b[i_g].sPRN = (int)strtonum(buff, 1, 2);
nav_b[i_g].TOC_Y = (int)strtonum(buff, 4, 4);
nav_b[i_g].TOC_M = (int)strtonum(buff, 9, 2);
nav_b[i_g].TOC_D = (int)strtonum(buff, 12, 2);
nav_b[i_g].TOC_H = (int)strtonum(buff, 15, 2);
nav_b[i_g].TOC_Min = (int)strtonum(buff, 18, 2);
nav_b[i_g].TOC_Sec = strtonum(buff, 21, 2);
nav_b[i_g].sa0 = strtonum(buff, 23, 19);
nav_b[i_g].sa1 = strtonum(buff, 23 + 19, 19);
nav_b[i_g].sa2 = strtonum(buff, 23 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 1:
nav_b[i_g].IODE = strtonum(buff, 4, 19);
nav_b[i_g].Crs = strtonum(buff, 4 + 19, 19);
nav_b[i_g].deltan = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].M0 = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 2:
nav_b[i_g].Cuc = strtonum(buff, 4, 19);
nav_b[i_g].e = strtonum(buff, 4 + 19, 19);
nav_b[i_g].Cus = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].sqrtA = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 3:
nav_b[i_g].TOE = strtonum(buff, 4, 19);
nav_b[i_g].Cic = strtonum(buff, 4 + 19, 19);
nav_b[i_g].OMEGA = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].Cis = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 4:
nav_b[i_g].i0 = strtonum(buff, 4, 19);
nav_b[i_g].Crc = strtonum(buff, 4 + 19, 19);
nav_b[i_g].omega = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].deltaomega = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 5:
nav_b[i_g].IDOT = strtonum(buff, 4, 19);
nav_b[i_g].L2code = strtonum(buff, 4 + 19, 19);
nav_b[i_g].GPSweek= strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].L2Pflag = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 6:
nav_b[i_g].sACC = strtonum(buff, 4, 19);
nav_b[i_g].sHEA = strtonum(buff, 4 + 19, 19);
nav_b[i_g].TGD = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].IODC = strtonum(buff, 4 + 19 + 19 + 19, 19);
fgets(buff, MAXRINEX, fp_nav);
break;
case 7:
nav_b[i_g].TTN = strtonum(buff, 4, 19);
nav_b[i_g].fit = strtonum(buff, 4 + 19, 19);
nav_b[i_g].spare1 = strtonum(buff, 4 + 19 + 19, 19);
nav_b[i_g].spare2 = strtonum(buff, 4 + 19 + 19 + 19, 19);
break;
}
}
i_g++;
continue;
}
else if(flag != 'G')
{
fgets(buff, MAXRINEX, fp_nav);
continue;
}
}
}
#endif
select_epo.h
+31
View File
@@ -0,0 +1,31 @@
#ifndef _SELECT_EPO_H_
#define _SELECT_EPO_H_
#include<stdio.h>
#include<math.h>
#include"read.h"
//挑选合适的星历
extern int select_epoch(double SecofWeek, int sPRN, pnav_body nav_b, int gps_satnum)
{
int best_epoch = 0;
double min=10000;//假设最小值是1万秒
double Min;
int i;
for (i = 0; i < gps_satnum; i++)
{
if (sPRN == nav_b[i].sPRN)
{
Min = fabs(SecofWeek - nav_b[i].TOE);
if (Min <= min)
{
best_epoch = i;
min = Min;
}
}
}
return best_epoch;
}
#endif