Archived
Update: 2024/10/28
1. KNZ_GeoTrackLab: Fix some bug. 2. KNZ_GeoTrackLab: Optimize code structure.
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#pragma once
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#ifndef _BRDM2POS_H_
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#define _BRDM2POS_H_
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#include <iostream>
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#include <math.h>
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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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/*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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/*GNSS OBSERV TYPE*/
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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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//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 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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//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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//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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//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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//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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//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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//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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/*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 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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}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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}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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}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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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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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 i0;
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double Crc;
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double omega;
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double deltaomega;
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double IDOT;
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double L2code; int Datasource;
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double GPSweek; double BDTweek; double GALweek;
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double L2Pflag;
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double sACC;
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double sHEA;
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double TGD; double TGD1; double BGDa;
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double IODC; double TGD2; double BGDb;
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double TTN;
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double fit; double AODC;
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double spare1;
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double spare2;
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}nav_body, * pnav_body;
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//header data of file of obs
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typedef struct obs_head
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{
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double ver;
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char type[30];
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double apX;
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double apY;
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double apZ;
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double ANTH;
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double ANTdeltaE;
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double ANTdeltaN;
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int obstypenum_gps;
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int obstypenum_bds;
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int obstypenum_gal;
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int obstypenum_glo;
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int obscode_gps[40];
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int obscode_bds[40];
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int obscode_gal[40];
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int obscode_glo[40];
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double interval;
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int f_y;
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int f_m;
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int f_d;
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int f_h;
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int f_min;
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double f_sec;
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int l_y;
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int l_m;
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int l_d;
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int l_h;
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int l_min;
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double l_sec;
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char tsys[5];//time system
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}obs_head, * pobs_head;
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//epoch data of file of obs
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typedef struct obs_epoch
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{
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int y;
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int m;
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int d;
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int h;
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int min;
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double sec;//epoch time
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int p_flag;//epoch flag
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int sat_num;//the total number of obsable sat
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int gps_num;//the total gps sat
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int bds_num;//the total bds sat
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int gal_num;//the total galileo sat
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int glo_num;//the total glonass sat
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int sPRN[84];//total sprn of obs sat
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int sPRN_GPS[32];
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int sPRN_BDS[60];
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int sPRN_GAL[30];
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int sPRN_GLO[24];
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}obs_epoch, * pobs_epoch;
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//body data of file of obs
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typedef struct obs_body
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{
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double obs_gps[20][26];//GPS obs data
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double obs_bds[30][26];//BDS obs data
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double obs_gal[20][26];//GALILEO obs data
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double obs_glo[20][26];//GLONASS obs data
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}obs_body, * pobs_body;
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//
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extern double JDUTC2GPST(double);
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extern double Time2GPST(int, int, int, double, int, double);
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extern double UTCTime2JD(int, int, int, double, int, double);
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//
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extern double deg2rad(double);
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extern double rad2deg(double);
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//
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extern rahcal RAHCAL(rahcal, double, double, double);
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extern blh2enu BLH2ENU(blh2enu, double, double, double, double, double);
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extern xyz2blh XYZ2BLH(xyz2blh, double, double, double);
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//
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extern int getsatnum(FILE*);
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extern int get_epochnum(FILE*);
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extern void initobs_e(pobs_epoch, pobs_body);
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extern void freeobs_e(pobs_epoch, pobs_body);
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extern int Type2Code(int, char buff[MAXRINEX]);
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extern int Code2Type(int, int, int typearr[36]);
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extern int select_epoch(double, int, pnav_body, int, int);
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//
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extern void read_n_h(FILE*, pnav_head);
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extern void read_n_b(FILE*, pnav_body);
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extern void read_o_h(FILE*, pobs_head);
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extern void read_o_eb(FILE*, pobs_head, pobs_epoch, pobs_body);
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//
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extern "C" _declspec(dllexport) double brdm2pos(char nav_path[260], char obs_path[260], char res_path[260], int gnsscode);
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