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@@ -8,398 +8,330 @@
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#include <time.h>
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#endif // _BRDM2POS_H_
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/* CALCU CONST*/
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#define C_V 299792458
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#define GM 398600500000000
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#define math_e 2.718281828459
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#define PI 3.141592653589793
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#define Earth_e 7.2921151467e-5
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#define C20 1.0826257e-3
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#define C_V 299792458 /* Speed of light (m/s) */
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#define GM 398600500000000 /* */
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#define math_e 2.718281828459 /* Natural constant e */
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#define PI 3.141592653589793 /* Ratio of circumference to diameter */
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#define Earth_e 7.2921151467e-5 /* Rotational angular velocity of the earths (omega/s) */
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#define C20 1.0826257e-3 /* */
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#define DAYSEC 86400 /* The total second of a day */
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/*WGS-84 CONST*/
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#define a 6378137.0
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#define e2 (0.0033528106647475*(2 - 0.0033528106647475))
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/*PZ-90 CONST*/
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#define TSTEP 30.0
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#define TSTEP 30.0 /* RK-4 step */
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/*GNSS OBSERV TYPE*/
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#define FREQ1 1.57542E9 /* L1/E1/B1C frequency (Hz) */
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#define FREQ2 1.22760E9 /* L2 frequency (Hz) */
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#define FREQ5 1.17645E9 /* L5/E5a/B2a frequency (Hz) */
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#define FREQ6 1.27875E9 /* E6/L6 frequency (Hz) */
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#define FREQ7 1.20714E9 /* E5b frequency (Hz) */
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#define FREQ8 1.191795E9 /* E5a+b frequency (Hz) */
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#define FREQ9 2.492028E9 /* S frequency (Hz) */
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#define FREQ1_GLO 1.60200E9 /* GLONASS G1 base frequency (Hz) */
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#define DFRQ1_GLO 0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */
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#define FREQ2_GLO 1.24600E9 /* GLONASS G2 base frequency (Hz) */
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#define DFRQ2_GLO 0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */
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#define FREQ3_GLO 1.202025E9 /* GLONASS G3 frequency (Hz) */
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#define FREQ1a_GLO 1.600995E9 /* GLONASS G1a frequency (Hz) */
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#define FREQ2a_GLO 1.248060E9 /* GLONASS G2a frequency (Hz) */
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#define FREQ1_BDS 1.561098E9 /* BDS B1I frequency (Hz) */
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#define FREQ2_BDS 1.20714E9 /* BDS B2I/B2b frequency (Hz) */
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#define FREQ3_BDS 1.26852E9 /* BDS B3 frequency (Hz) */
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//frequency 1
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#define C1 100
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#define C1A 100
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#define C1B 101
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#define C1C 102
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#define C1D 103
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#define C1E
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#define C1F
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#define C1G
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#define C1H
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#define C1I
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#define C1J
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#define C1K
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#define C1L 104
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#define C1M 105
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#define C1N
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#define C1O
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#define C1P 106
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#define C1Q
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#define C1R
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#define C1S 107
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#define C1T
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#define C1U
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#define C1V
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#define C1W
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#define C1X 108
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#define C1Y 109
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#define C1Z 110
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#define C1 100
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#define C1A 100
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#define C1B 101
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#define C1C 102
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#define C1D 103
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#define C1L 104
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#define C1M 105
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#define C1P 106
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#define C1S 107
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#define C1X 108
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#define C1Y 109
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#define C1Z 110
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//frequency 2
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#define C2 200
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#define C2A
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#define C2B
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#define C2C 200
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#define C2D 201
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#define C2E
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#define C2F
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#define C2G
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#define C2H
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#define C2I 202
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#define C2J
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#define C2K
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#define C2L 203
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#define C2M 204
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#define C2N
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#define C2O
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#define C2P 205
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#define C2Q 206
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#define C2 200
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#define C2C 200
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#define C2D 201
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#define C2I 202
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#define C2L 203
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#define C2M 204
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#define C2P 205
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#define C2Q 206
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#define C2R
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#define C2S 207
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#define C2T
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#define C2U
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#define C2V
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#define C2W
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#define C2X 208
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#define C2Y 209
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#define C2Z 210
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#define C2S 207
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#define C2X 208
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#define C2Y 209
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#define C2Z 210
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//frequency 3
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#define C3 300
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#define C3I 300
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#define C3Q 301
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#define C3X 302
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#define C3 300
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#define C3I 300
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#define C3Q 301
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#define C3X 302
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//frequency 4
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#define C4 400
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#define C4A 400
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#define C4B 401
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#define C4X 402
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#define C4 400
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#define C4A 400
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#define C4B 401
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#define C4X 402
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//frequency 5
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#define C5 500
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#define C5A
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#define C5B
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#define C5C
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#define C5D
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#define C5E
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#define C5F
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#define C5G
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#define C5H
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#define C5I 500
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#define C5J
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#define C5K
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#define C5L
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#define C5M
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#define C5N
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#define C5O
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#define C5P
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#define C5Q 501
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#define C5R
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#define C5S
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#define C5T
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#define C5U
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#define C5V
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#define C5W
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#define C5X 502
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#define C5Y
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#define C5Z
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#define C5 500
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#define C5I 500
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#define C5Q 501
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#define C5X 502
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//frequency 6
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#define C6 600
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#define C6A 600
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#define C6B 601
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#define C6C 602
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#define C6D
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#define C6E
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#define C6F
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#define C6G
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#define C6H
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#define C6I
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#define C6J
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#define C6K
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#define C6L
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#define C6M
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#define C6N
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#define C6O
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#define C6P
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#define C6Q
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#define C6R
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#define C6S
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#define C6T
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#define C6U
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#define C6V
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#define C6W
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#define C6X 603
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#define C6Y
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#define C6Z 604
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#define C6 600
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#define C6A 600
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#define C6B 601
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#define C6C 602
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#define C6X 603
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#define C6Z 604
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//frequency 7
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#define C7 700
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#define C7A
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#define C7B
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#define C7C
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#define C7D
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#define C7E
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#define C7F
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#define C7G
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#define C7H
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#define C7I 700
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#define C7J
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#define C7K
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#define C7L
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#define C7M
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#define C7N
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#define C7O
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#define C7P
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#define C7Q 701
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#define C7R
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#define C7S
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#define C7T
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#define C7U
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#define C7V
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#define C7W
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#define C7X 702
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#define C7Y
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#define C7Z
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#define C7 700
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#define C7I 700
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#define C7Q 701
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#define C7X 702
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//frequency 8
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#define C8 800
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#define C8I 800
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#define C8Q 801
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#define C8X 802
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#define C8 800
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#define C8I 800
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#define C8Q 801
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#define C8X 802
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/*GNSS CODE*/
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#define GPS 01
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#define BDS 02
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#define GAL 03
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#define GLO 04
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#define SBAS 05
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#define GPS 01
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#define BDS 02
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#define GAL 03
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#define GLO 04
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#define SBAS 05
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#define MAXRINEX 1000
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#define DAYSEC 86400
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//satellite position & clock bias structure
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typedef struct
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{
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double X;
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double Y;
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double Z;
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double deltat;
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double delta_t;
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double delta_clk;
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#define MAXRINEX 4096 /* Max length of line of rinex file */
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#define MAXPATH 260 /* Max length of file path */
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typedef struct pos_ts{//Satellite position
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double X;
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double Y;
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double Z;
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double deltat;
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double delta_t;
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double delta_clk;
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}pos_ts;
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//receiver station position & clock bias structure
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typedef struct
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{
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double X;
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double Y;
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double Z;
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double B;
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double L;
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double H;
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double delta_TR;
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typedef struct stations{//
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double X;
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double Y;
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double Z;
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double B;
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double L;
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double H;
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double delta_TR;
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}stations;
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//longitude & latitude structure
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typedef struct
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{
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double B;
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int B_d;
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int B_m;
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int B_s;
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double L;
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int L_d;
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int L_m;
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int L_s;
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double H;
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}blhs;
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//satellite azimuth angle structure
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typedef struct
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{
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double R;
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double A;
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double H;
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}rahcal;
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//local Cartesian coordinates coordinate system structure
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typedef struct
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{
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double E;
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double N;
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double U;
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}blh2enu;
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typedef struct
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{
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double B;
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double L;
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double H;
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}xyz2blh;
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//header data of file of nav
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typedef struct nav_head
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{
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double ver;//rinex
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char type[20];
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double ION_GPSA[4];
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double ION_GPSB[4];
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double ION_BDSA[4];
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double ION_BDSB[4];
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double ION_QZSA[4];
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double ION_QZSB[4];
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double ION_IRNA[4];
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double ION_IRNB[4];
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double GPUT[4];
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double GLUT[4];
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double GAUT[4];
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double BDUT[4];
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double QZUT[4];
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double IRUT[4];
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double SBUT[4];
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int leap;
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typedef struct rah{//
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double R;
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double A;
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double H;
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}rah;
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typedef struct enu{//East/North/Up coordinate system
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double E;
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double N;
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double U;
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}enu;
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typedef struct blh{//Longitude/Latitude/Altitude coordinate system
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double B;
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double L;
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double H;
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}blh;
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typedef struct blhdms{//Longitude/Latitude/Altitude coordinate system
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//With Degree/Minute/Second
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double B;
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int B_d;
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int B_m;
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int B_s;
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double L;
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int L_d;
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int L_m;
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int L_s;
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double H;
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}blhdms;
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typedef struct nav_head{//Header data of file of nav
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double ver; /* RINEX version */
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char type[20]; /* RINEX file format */
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double ION_GPSA[4]; /* Ionosphere correction parameters alpha GPS */
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double ION_GPSB[4]; /* Ionosphere correction parameters belta GPS */
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double ION_BDSA[4]; /* Ionosphere correction parameters alpha BeiDou */
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double ION_BDSB[4]; /* Ionosphere correction parameters belta BeiDou */
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double ION_QZSA[4]; /* Ionosphere correction parameters alpha QZSS */
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double ION_QZSB[4]; /* Ionosphere correction parameters belta QZSS */
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double ION_IRNA[4]; /* Ionosphere correction parameters alpha */
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double ION_IRNB[4]; /* Ionosphere correction parameters belta */
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double GPUT[4]; /* Time system correction of GPST */
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double GLUT[4]; /* Time system correction of GLONASST */
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double GAUT[4]; /* Time system correction of GALT */
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double BDUT[4]; /* Time system correction of BDT */
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double QZUT[4]; /* Time system correction of QZST */
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double IRUT[4]; /* Time system correction of */
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double SBUT[4]; /* Time system correction of SBAST */
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int leap; /* Leap second */
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}nav_head, * pnav_head;
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//body data of file of nav: GPS BeiDou Galileo
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typedef struct nav_body
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{
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int sPRN_GPS; int sPRN_BDS; int sPRN_GAL; int sPRN_GLO;
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int TOC_Y;
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int TOC_M;
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int TOC_D;
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int TOC_H;
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int TOC_Min;
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int TOC_Sec;
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double sa0;
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double sa1;
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double sa2; double Dos;
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double IODE; double AODE; double SatX;
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double Crs; double SatXv;
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double deltan; double SatXa;
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double M0;
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typedef struct nav_body{//Body data of file of nav: GPS BeiDou Galileo GLONASS
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double Cuc; double SatY;
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double e; double SatYv;
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double Cus; double SatYa;
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double sqrtA; int FreN;
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/* GPS BeiDou Galileo GLONASS*/
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int sPRN_GPS; int sPRN_BDS; int sPRN_GAL; int sPRN_GLO;/* System */
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int TOC_Y;
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int TOC_M;
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int TOC_D;
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int TOC_H;
|
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int TOC_Min;
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int TOC_Sec;
|
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double sa0;
|
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double sa1;
|
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double sa2; double Dos;
|
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|
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double TOE; double SatZ;
|
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double Cic; double SatZv;
|
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double OMEGA; double SatZa;
|
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double Cis; int AOO;
|
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double IODE; double AODE; double SatX;
|
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double Crs; double SatXv;
|
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double deltan; double SatXa;
|
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double M0;
|
||||
|
||||
double i0;
|
||||
double Crc;
|
||||
double omega;
|
||||
double deltaomega;
|
||||
double Cuc; double SatY;
|
||||
double e; double SatYv;
|
||||
double Cus; double SatYa;
|
||||
double sqrtA; int FreN;
|
||||
|
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double IDOT;
|
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double L2code; int Datasource;
|
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double GPSweek; double BDTweek; double GALweek;
|
||||
double L2Pflag;
|
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double TOE; double SatZ;
|
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double Cic; double SatZv;
|
||||
double OMEGA; double SatZa;
|
||||
double Cis; int AOO;
|
||||
|
||||
double sACC;
|
||||
double sHEA;
|
||||
double TGD; double TGD1; double BGDa;
|
||||
double IODC; double TGD2; double BGDb;
|
||||
double i0;
|
||||
double Crc;
|
||||
double omega;
|
||||
double deltaomega;
|
||||
|
||||
double TTN;
|
||||
double fit; double AODC;
|
||||
double spare1;
|
||||
double spare2;
|
||||
double IDOT;
|
||||
double L2code; int Datasource;
|
||||
double GPSweek; double BDTweek; double GALweek;
|
||||
double L2Pflag;
|
||||
|
||||
double sACC;
|
||||
double sHEA;
|
||||
double TGD; double TGD1; double BGDa;
|
||||
double IODC; double TGD2; double BGDb;
|
||||
|
||||
double TTN;
|
||||
double fit; double AODC;
|
||||
double spare1;
|
||||
double spare2;
|
||||
|
||||
}nav_body, * pnav_body;
|
||||
//header data of file of obs
|
||||
typedef struct obs_head
|
||||
{
|
||||
double ver;
|
||||
char type[30];
|
||||
double apX;
|
||||
double apY;
|
||||
double apZ;
|
||||
double ANTH;
|
||||
double ANTdeltaE;
|
||||
double ANTdeltaN;
|
||||
int obstypenum_gps;
|
||||
int obstypenum_bds;
|
||||
int obstypenum_gal;
|
||||
int obstypenum_glo;
|
||||
int obscode_gps[40];
|
||||
int obscode_bds[40];
|
||||
int obscode_gal[40];
|
||||
int obscode_glo[40];
|
||||
double interval;
|
||||
int f_y;
|
||||
int f_m;
|
||||
int f_d;
|
||||
int f_h;
|
||||
int f_min;
|
||||
double f_sec;
|
||||
int l_y;
|
||||
int l_m;
|
||||
int l_d;
|
||||
int l_h;
|
||||
int l_min;
|
||||
double l_sec;
|
||||
char tsys[5];//time system
|
||||
|
||||
typedef struct obs_head{//Header data of file of obs
|
||||
double ver;
|
||||
char type[30];
|
||||
|
||||
double apX;
|
||||
double apY;
|
||||
double apZ;
|
||||
|
||||
double apB;
|
||||
double apL;
|
||||
double apH;
|
||||
|
||||
double ANTH;
|
||||
double ANTdeltaE;
|
||||
double ANTdeltaN;
|
||||
|
||||
int obstypenum_gps; /* Observation amount of GPS */
|
||||
int obstypenum_bds; /* Observation amount of BeiDou */
|
||||
int obstypenum_gal; /* Observation amount of Galilro */
|
||||
int obstypenum_glo; /* Observation amount of GLONASS */
|
||||
|
||||
int obscode_gps[40];/* Observation code of GPS */
|
||||
int obscode_bds[40];/* Observation code of BeiDou */
|
||||
int obscode_gal[40];/* Observation code of Galileo */
|
||||
int obscode_glo[40];/* Observation code of GLONASS */
|
||||
|
||||
double interval; /* */
|
||||
|
||||
int f_y; /* Year of first observe */
|
||||
int f_m; /* Month of first observe */
|
||||
int f_d; /* Day of first observe */
|
||||
int f_h; /* Hour of first observe */
|
||||
int f_min; /* Minute of first observe */
|
||||
double f_sec; /* Second of first observe */
|
||||
|
||||
int l_y; /* Year of last observe */
|
||||
int l_m; /* Month of last observe */
|
||||
int l_d; /* Day of last observe */
|
||||
int l_h; /* Hour of last observe */
|
||||
int l_min; /* Minute of last observe */
|
||||
double l_sec; /* Second of last observe */
|
||||
|
||||
char tsys[5]; /* Time system of obs */
|
||||
}obs_head, * pobs_head;
|
||||
//epoch data of file of obs
|
||||
typedef struct obs_epoch
|
||||
{
|
||||
int y;
|
||||
int m;
|
||||
int d;
|
||||
int h;
|
||||
int min;
|
||||
double sec;//epoch time
|
||||
int p_flag;//epoch flag
|
||||
int sat_num;//the total number of obsable sat
|
||||
int gps_num;//the total gps sat
|
||||
int bds_num;//the total bds sat
|
||||
int gal_num;//the total galileo sat
|
||||
int glo_num;//the total glonass sat
|
||||
int sPRN[84];//total sprn of obs sat
|
||||
int sPRN_GPS[32];
|
||||
int sPRN_BDS[60];
|
||||
int sPRN_GAL[30];
|
||||
int sPRN_GLO[24];
|
||||
|
||||
typedef struct obs_epoch{//Epoch data of file of obs
|
||||
int y; /* Epoch year */
|
||||
int m; /* Epoch month */
|
||||
int d; /* Epoch day */
|
||||
int h; /* Epoch hour */
|
||||
int min; /* Epoch minute */
|
||||
double sec; /* Epoch second */
|
||||
int p_flag; /* Epoch flag */
|
||||
int sat_num; /* The total number of obsable sat */
|
||||
int gps_num; /* The total GPS satellite */
|
||||
int bds_num; /* The total BeiDou satellite */
|
||||
int gal_num; /* The total Galileo satellite */
|
||||
int glo_num; /* The total GLONASS satellite */
|
||||
int sPRN[84]; /* Total sprn of obs satellite */
|
||||
int sPRN_GPS[32];/* Total sprn of GPS satellite in this epoch */
|
||||
int sPRN_BDS[60];/* Total sprn of BeiDou satellite in this epoch */
|
||||
int sPRN_GAL[30];/* Total sprn of Galileo satellite in this epoch */
|
||||
int sPRN_GLO[24];/* Total sprn of GLONASS satellite in this epoch */
|
||||
}obs_epoch, * pobs_epoch;
|
||||
//body data of file of obs
|
||||
typedef struct obs_body
|
||||
{
|
||||
double obs_gps[20][26];//GPS obs data
|
||||
double obs_bds[30][26];//BDS obs data
|
||||
double obs_gal[20][26];//GALILEO obs data
|
||||
double obs_glo[20][26];//GLONASS obs data
|
||||
|
||||
typedef struct obs_body{//Body data of file of obs
|
||||
double obs_gps[30][26];/* GPS obs data */
|
||||
double obs_bds[40][26];/* BeiDou obs data */
|
||||
double obs_gal[30][26];/* Galileo obs data */
|
||||
double obs_glo[30][26];/* GLONASS obs data */
|
||||
}obs_body, * pobs_body;
|
||||
//
|
||||
|
||||
//Contain in timesys.cpp
|
||||
extern double JDUTC2GPST(double);
|
||||
extern double Time2GPST(int, int, int, double, int, double);
|
||||
extern double UTCTime2JD(int, int, int, double, int, double);
|
||||
//
|
||||
extern double deg2rad(double);
|
||||
extern double rad2deg(double);
|
||||
//
|
||||
extern rahcal RAHCAL(rahcal, double, double, double);
|
||||
extern blh2enu BLH2ENU(blh2enu, double, double, double, double, double);
|
||||
extern xyz2blh XYZ2BLH(xyz2blh, double, double, double);
|
||||
//
|
||||
extern int getsatnum(FILE*);
|
||||
extern int get_epochnum(FILE*);
|
||||
extern void initobs_e(pobs_epoch, pobs_body);
|
||||
//Contain in coordtrans.cpp
|
||||
extern double deg2rad(double);
|
||||
extern double rad2deg(double);
|
||||
extern rah rahcal(rah, double, double, double);
|
||||
extern enu blh2enu(enu, double, double, double, double, double);
|
||||
extern blh xyz2blh(blh, double, double, double);
|
||||
//Contain in readrnx.cpp
|
||||
extern int getsatnum(FILE*);
|
||||
extern int get_epochnum(FILE*);
|
||||
extern void freeobs_e(pobs_epoch, pobs_body);
|
||||
extern int Type2Code(int, char buff[MAXRINEX]);
|
||||
extern int Code2Type(int, int, int typearr[36]);
|
||||
extern int select_epoch(double, int, pnav_body, int, int);
|
||||
//
|
||||
extern int type2code(int, char buff[MAXRINEX]);
|
||||
extern int code2type(int, int, int typearr[36]);
|
||||
extern int select_epoch(double, int, pnav_body, int, int);
|
||||
//Contain in readrnx.cpp/read
|
||||
extern void read_n_h(FILE*, pnav_head);
|
||||
extern void read_n_b(FILE*, pnav_body);
|
||||
extern void read_o_h(FILE*, pobs_head);
|
||||
extern void read_o_eb(FILE*, pobs_head, pobs_epoch, pobs_body);
|
||||
//
|
||||
extern "C" _declspec(dllexport) double brdm2pos(char nav_path[260], char obs_path[260], char res_path[260], int gnsscode);
|
||||
//Contain in solutionout.cpp
|
||||
extern FILE* outputheader(pobs_head, char obs_path[MAXPATH], char nav_path[MAXPATH], char res_path[MAXPATH]);
|
||||
extern void outputbodydata(pobs_head, pobs_body, pos_ts, rah, FILE*, int, int, int);
|
||||
//Entry function
|
||||
extern "C" _declspec(dllexport) double brdm2pos(char nav_path[MAXPATH], char obs_path[MAXPATH], char res_path[MAXPATH],
|
||||
int GNSS, int Hangle);
|
||||
|
||||
Reference in new issue
Block a user