Archived
Update: 2024/10/28
1. KNZ_GeoTrackLab: Fix some bug. 2. KNZ_GeoTrackLab: Optimize code structure.
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#include "brdm2pos.h"
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using namespace std;
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/*Obatain the intergral term of acceleraction of each component*/
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void pz90deq(double X[6], double K[6], double acc[3])
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{
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double r = sqrt(pow(X[0], 2) + pow(X[1], 2) + pow(X[2], 2));
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double coef0 = -GM / pow(r, 3);
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double coef1 = 1.5 * C20 * (GM * pow(a, 2) / pow(r, 5));
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K[0] = X[3]; K[1] = X[4]; K[2] = X[5];
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K[3] =
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coef0 * X[0] +
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coef1 * (1 - 5 * pow((X[2] / r), 2)) * X[0] +
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pow(Earth_e, 2) * X[0] +
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2 * Earth_e * X[4] +
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acc[0];
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K[4] =
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coef0 * X[1] +
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coef1 * (1 - 5 * pow((X[2] / r), 2)) * X[1] +
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pow(Earth_e, 2) * X[1] -
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2 * Earth_e * X[3] +
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acc[1];
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K[5] =
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coef0 * X[2] +
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coef1 * (3 - 5 * pow((X[2] / r), 2)) * X[2] +
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acc[2];
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}
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/*Construct the RK-4 method*/
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void pz90pos(double tstep, double X[6], double acc[3])
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{
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double K1[6], K2[6], K3[6], K4[6], W[6];
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pz90deq(X, K1, acc); for (int i = 0; i < 6; i++) W[i] = X[i] + K1[i] * tstep / 2.0;
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pz90deq(W, K2, acc); for (int i = 0; i < 6; i++) W[i] = X[i] + K2[i] * tstep / 2.0;
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pz90deq(W, K3, acc); for (int i = 0; i < 6; i++) W[i] = X[i] + K3[i] * tstep;
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pz90deq(W, K4, acc);
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for (int i = 0; i < 6; i++) X[i] += (K1[i] + 2.0 * K2[i] + 2.0 * K3[i] + K4[i]) * tstep / 6.0;
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}
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/*Calculate the satellite position of GLONASS on this epoch*/
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pos_ts glo_pos(int best_epoch, double Weeksec,
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pnav_body nav_b, pobs_head obs_h, pos_ts pos_t)
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{
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double X[6], acc[3]; double R = 0.0;
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double tdist = Weeksec - pos_t.delta_t - nav_b[best_epoch].TOE, tstep = 0.0;
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pos_t.delta_clk = -nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * tdist;
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X[0] = nav_b[best_epoch].SatX * 1e3;
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X[1] = nav_b[best_epoch].SatY * 1e3;
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X[2] = nav_b[best_epoch].SatZ * 1e3;//Position
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X[3] = nav_b[best_epoch].SatXv * 1e3;
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X[4] = nav_b[best_epoch].SatYv * 1e3;
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X[5] = nav_b[best_epoch].SatZv * 1e3;//Velocity
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acc[0] = nav_b[best_epoch].SatXa * 1e3;
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acc[1] = nav_b[best_epoch].SatYa * 1e3;
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acc[2] = nav_b[best_epoch].SatZa * 1e3;//Acclerate
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for (tstep = tdist < 0.0 ? TSTEP : -TSTEP; fabs(tdist) > 1.0e-9; tdist += tstep) {
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if (fabs(tdist) < TSTEP) tstep = -tdist;
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pz90pos(tstep, X, acc);
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}
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X[0] = -0.47 + (X[0] * 1 + X[1] * 1.728e-6 + X[2] * -0.017e-6) * (1 + 22e-9);
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X[1] = -0.51 + (X[0] * 1.728e-6 + X[1] * 1 + X[2] * -0.076e-6) * (1 + 22e-9);
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X[2] = -1.56 + (X[0] * 0.0178e-6 + X[1] * -0.076e-6 + X[2] * 1) * (1 + 22e-9);//PZ90 Convert to WGS-84
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pos_t.X = X[0];
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pos_t.Y = X[1];
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pos_t.Z = X[2];
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R = sqrt(pow(pos_t.X - obs_h->apX, 2) + pow(pos_t.Y - obs_h->apY, 2) + pow(pos_t.Z - obs_h->apZ, 2));
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pos_t.deltat = pos_t.delta_t;
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pos_t.delta_t = R / C_V + pos_t.delta_clk;
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return pos_t;
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}
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/*Calculate the satellite position of other systems on this epoch*/
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pos_ts sat_pos(int sPRN, int best_epoch, double Weeksec, int gnsscode,
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pnav_body nav_b, pobs_head obs_h, pos_ts pos_t)
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{
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double T_S = Weeksec - pos_t.delta_t;
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double n_0 = sqrt(GM) / pow(nav_b[best_epoch].sqrtA, 3);
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double n = n_0 + nav_b[best_epoch].deltan;
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double tk;
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if (gnsscode == BDS) tk = T_S - nav_b[best_epoch].TOE - 14;
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else tk = T_S - nav_b[best_epoch].TOE;
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if (tk > 32400)tk -= 604800;
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else if (tk < -32400)tk += 604800;
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double Ms = nav_b[best_epoch].M0 + n * tk;
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double Es = Ms, E0;
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do
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{
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E0 = Es;
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Es = Ms + nav_b[best_epoch].e * sin(Es);
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} while (fabs(Es - E0) > 1.0e-10);
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double cosfs = (cos(Es) - nav_b[best_epoch].e) / (1 - nav_b[best_epoch].e * cos(Es));
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double sinfs = (sqrt(1 - pow(nav_b[best_epoch].e, 2)) * sin(Es)) / (1 - nav_b[best_epoch].e * cos(Es));
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double fs = atan2(sinfs, cosfs);
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double u0 = fs + nav_b[best_epoch].omega;
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double epsilon_u = nav_b[best_epoch].Cus * sin(2 * u0) + nav_b[best_epoch].Cuc * cos(2 * u0);
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double epsilon_r = nav_b[best_epoch].Crs * sin(2 * u0) + nav_b[best_epoch].Crc * cos(2 * u0);
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double epsilon_i = nav_b[best_epoch].Cis * sin(2 * u0) + nav_b[best_epoch].Cic * cos(2 * u0);
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double u = u0 + epsilon_u;
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double r = pow(nav_b[best_epoch].sqrtA, 2) * (1 - nav_b[best_epoch].e * cos(Es)) + epsilon_r;
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double i = nav_b[best_epoch].i0 + epsilon_i + nav_b[best_epoch].IDOT * tk;
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double x = r * cos(u);
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double y = r * sin(u);
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double l, X, Y, Z;
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if (gnsscode == BDS) {
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if (sPRN > 5 && sPRN < 59) //BDS IGSO & MEO Satellites
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{
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l = nav_b[best_epoch].OMEGA + (nav_b[best_epoch].deltaomega - Earth_e) * tk - Earth_e * nav_b[best_epoch].TOE;
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X = x * cos(l) - y * cos(i) * sin(l);
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Y = x * sin(l) + y * cos(i) * cos(l);
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Z = y * sin(i);
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}
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else //BDS GEO Satellites
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{
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l = nav_b[best_epoch].OMEGA + nav_b[best_epoch].deltaomega * tk - Earth_e * nav_b[best_epoch].TOE;
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X = x * cos(l) - y * cos(i) * sin(l);
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Y = x * sin(l) + y * cos(i) * cos(l);
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Z = y * sin(i);
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double f = deg2rad(-5);
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double p = Earth_e * tk;
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X = X * cos(p) + Y * sin(p) * cos(f) + Z * sin(p) * sin(f);
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Y = X * -sin(p) + Y * cos(p) * cos(f) + Z * cos(p) * sin(f);
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Z = Y * -sin(f) + Z * cos(f);
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}
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}
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else {
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l = nav_b[best_epoch].OMEGA + (nav_b[best_epoch].deltaomega - Earth_e) * tk - Earth_e * nav_b[best_epoch].TOE;
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X = x * cos(l) - y * cos(i) * sin(l);
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Y = x * sin(l) + y * cos(i) * cos(l);
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Z = y * sin(i);
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}
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pos_t.X = cos(Earth_e * pos_t.delta_t) * X + sin(Earth_e * pos_t.delta_t) * Y;
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pos_t.Y = -sin(Earth_e * pos_t.delta_t) * X + cos(Earth_e * pos_t.delta_t) * Y;
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pos_t.Z = Z;//Correction of earth rotation
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double TGD;
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if (gnsscode == GPS) TGD = nav_b[best_epoch].TGD;
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else if (gnsscode == GAL) TGD = nav_b[best_epoch].BGDa;
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else if (gnsscode == BDS) TGD = 0;
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double R = sqrt(pow(pos_t.X - obs_h->apX, 2) + pow(pos_t.Y - obs_h->apY, 2) + pow(pos_t.Z - obs_h->apZ, 2));
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double rela = 2 * sqrt(GM) * nav_b[best_epoch].e * nav_b[best_epoch].sqrtA * sin(Es) / pow(C_V, 2);//Relativistic effect
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pos_t.delta_clk = nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * tk + nav_b[best_epoch].sa2 * pow(tk, 2) - rela - TGD;
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pos_t.deltat = pos_t.delta_t;
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pos_t.delta_t = R / C_V + pos_t.delta_clk;
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return pos_t;
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}
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/* -------------------------------------------------------------------------- */
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/// @brief Calculate the position of satellite in the ECEF coordinate system by the broadcast ephemeris and epoch information
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/// @param obs_h Observation header data
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/// @param obs_e Observation epoch data
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/// @param obs_b Observation data
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/// @param nav_b Navigation data
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/// @param res_file The file path of result file of satellite position
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/// @param station Prior information about station location
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/// @param gnsscode GNSS system code
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/// @param satnum The total number of satellite of designated satellite system
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/// @return 1 refer OK
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/* -------------------------------------------------------------------------- */
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int sat_pos_cal(pobs_head obs_h, pobs_epoch obs_e, pobs_body obs_b,
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pnav_body nav_b,
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FILE* res_file, stations station,
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int gnsscode, int satnum)
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{
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//the beginning second of observation
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double beginsec = Time2GPST(obs_h->f_y, obs_h->f_m, obs_h->f_d, obs_h->f_h, obs_h->f_min, obs_h->f_sec);
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//the ending second of observation
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double endinsec = Time2GPST(obs_h->l_y, obs_h->l_m, obs_h->l_d, obs_h->l_h, obs_h->l_min, obs_h->l_sec);
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blhs blh = { 0 }; blh2enu enu = { 0 };
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rahcal rah = { 0 }; pos_ts pos_t = { 0 };
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xyz2blh tem1 = { 0 }; blh2enu tem2 = { 0 }; rahcal tem3 = { 0 };
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int y = obs_e->y; int m = obs_e->m; int d = obs_e->d;
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double h = obs_e->h; int min = obs_e->min; double sec = obs_e->sec;
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double Weeksec = Time2GPST(y, m, d, h, min, sec);
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int epochcount = round((Weeksec - beginsec) / obs_h->interval) + 1;
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fprintf(res_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f"
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, epochcount, obs_e->y, obs_e->m, obs_e->d, obs_e->h, obs_e->min, obs_e->sec);
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int sat_num = 0, sPRN = 0, SIGN = 0, PERS = 0;
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double detat_toc;
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//Check the GNSS and assign the satellite number
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if (gnsscode == GPS)sat_num = obs_e->gps_num;
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else if (gnsscode == GAL)sat_num = obs_e->gal_num;
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else if (gnsscode == BDS)sat_num = obs_e->bds_num;
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else if (gnsscode == GLO)sat_num = obs_e->glo_num;
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for (int j = 0; j < sat_num; j++) {
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if (gnsscode == GPS) {
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sPRN = obs_e->sPRN_GPS[j]; SIGN = GPS;
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PERS = obs_b->obs_gps[j][Code2Type(C1, obs_h->obstypenum_gps, obs_h->obscode_gps)] / C_V;
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}
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else if (gnsscode == GAL) {
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sPRN = obs_e->sPRN_GAL[j]; SIGN = GAL;
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PERS = obs_b->obs_gal[j][Code2Type(C1, obs_h->obstypenum_gal, obs_h->obscode_gal)] / C_V;
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}
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else if (gnsscode == BDS) {
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sPRN = obs_e->sPRN_BDS[j]; SIGN = BDS;
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PERS = obs_b->obs_bds[j][Code2Type(C2, obs_h->obstypenum_bds, obs_h->obscode_bds)] / C_V;
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}
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else if (gnsscode == GLO) {
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sPRN = obs_e->sPRN_GLO[j]; SIGN = GLO;
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PERS = obs_b->obs_glo[j][Code2Type(C1, obs_h->obstypenum_glo, obs_h->obscode_glo)] / C_V;
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}
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int best_epoch = select_epoch(Weeksec, sPRN, nav_b, satnum, SIGN);
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if (best_epoch == -1)//when the sPRN is not exist function will return -1
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break;
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if (SIGN == BDS) detat_toc = Weeksec - nav_b[best_epoch].TOE - 14;
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else detat_toc = Weeksec - nav_b[best_epoch].TOE;
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//Iterative approximate propagation time
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//Exclude GLONASS
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if (SIGN == GLO) {
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pos_t.delta_t = PERS -
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station.delta_TR +
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nav_b[best_epoch].sa0 +
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nav_b[best_epoch].sa1 * detat_toc;
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pos_t.deltat = 0.0;
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while (fabs(pos_t.delta_t - pos_t.deltat) > 1.0e-9) {
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pos_t = glo_pos(best_epoch, Weeksec, nav_b, obs_h, pos_t);
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}
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}
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else {
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pos_t.delta_t = PERS -
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station.delta_TR +
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nav_b[best_epoch].sa0 +
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nav_b[best_epoch].sa1 * detat_toc +
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nav_b[best_epoch].sa2 * pow(detat_toc, 2);
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pos_t.deltat = 0.0;
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while (fabs(pos_t.delta_t - pos_t.deltat) > 1.0e-9) {
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pos_t = sat_pos(sPRN, best_epoch, Weeksec, gnsscode, nav_b, obs_h, pos_t);
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}
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}
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//Satellite blh position calculation
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tem1 = XYZ2BLH(tem1, pos_t.X, pos_t.Y, pos_t.Z);
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blh.B = rad2deg(tem1.B);
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blh.L = rad2deg(tem1.L);
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blh.H = tem1.H;
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double deltax = pos_t.X - obs_h->apX;
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double deltay = pos_t.Y - obs_h->apY;
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double deltaz = pos_t.Z - obs_h->apZ;
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tem2 = BLH2ENU(tem2, station.B, station.L, deltax, deltay, deltaz);
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enu.E = tem2.E;
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enu.N = tem2.N;
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enu.U = tem2.U;
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//Satellite elevation Angle calculation
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tem3 = RAHCAL(tem3, enu.E, enu.N, enu.U);
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rah.R = tem3.R;
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rah.A = rad2deg(tem3.A);
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rah.H = rad2deg(tem3.H);
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if (blh.H < 0 || rah.H < 10 || nav_b[best_epoch].sHEA != 0) {
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continue;
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}
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else {
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if (SIGN == GPS) {
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fprintf(res_file, "\nG %02d| %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %16.13f"
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, sPRN, pos_t.X, pos_t.Y, pos_t.Z
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, obs_b->obs_gps[j][Code2Type(C1, obs_h->obstypenum_gps, obs_h->obscode_gps)]
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, obs_b->obs_gps[j][Code2Type(C2, obs_h->obstypenum_gps, obs_h->obscode_gps)]
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, rah.H, pos_t.delta_clk);//GPS satellite pos output
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}
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else if (SIGN == GAL) {
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fprintf(res_file, "\nE %02d| %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %16.13f"
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, sPRN, pos_t.X, pos_t.Y, pos_t.Z
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, obs_b->obs_gal[j][Code2Type(C1, obs_h->obstypenum_gal, obs_h->obscode_gal)]
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, obs_b->obs_gal[j][Code2Type(C6, obs_h->obstypenum_gal, obs_h->obscode_gal)]
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, rah.H, pos_t.delta_clk);//Galileo satellite pos output
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}
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else if (SIGN == BDS) {
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if (sPRN >= 19) {
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fprintf(res_file, "\nCC%02d| %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %16.13f"
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, sPRN, pos_t.X, pos_t.Y, pos_t.Z
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, obs_b->obs_bds[j][Code2Type(C2, obs_h->obstypenum_bds, obs_h->obscode_bds)]
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, obs_b->obs_bds[j][Code2Type(C7, obs_h->obstypenum_bds, obs_h->obscode_bds)]
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, rah.H, pos_t.delta_clk);//BDS-3 satellite pos output
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}
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else {
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fprintf(res_file, "\nCB%02d| %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %16.13f"
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, sPRN, pos_t.X, pos_t.Y, pos_t.Z
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, obs_b->obs_bds[j][Code2Type(C2, obs_h->obstypenum_bds, obs_h->obscode_bds)]
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, obs_b->obs_bds[j][Code2Type(C7, obs_h->obstypenum_bds, obs_h->obscode_bds)]
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, rah.H, pos_t.delta_clk);//BDS-2 satellite pos output
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}
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}
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else if (SIGN == GLO) {
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fprintf(res_file, "\nR %02d| %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %16.13f"
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, sPRN, pos_t.X, pos_t.Y, pos_t.Z
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, obs_b->obs_glo[j][Code2Type(C1, obs_h->obstypenum_glo, obs_h->obscode_glo)]
|
||||
, obs_b->obs_glo[j][Code2Type(C2, obs_h->obstypenum_glo, obs_h->obscode_glo)]
|
||||
, rah.H, pos_t.delta_clk);//Galileo satellite pos output
|
||||
}
|
||||
}
|
||||
}return 1;
|
||||
}
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/// @brief The entry function of full .dll package,
|
||||
/// @param nav_path The RINEX navigation file's path
|
||||
/// @param obs_path The RINEX observation file's path
|
||||
/// @param res_path The Satellite output file's path
|
||||
/// @param gnsscode The GNSS position you want to calculate
|
||||
/// @return 0 refer complete solution; -1 refer fail to complete solution
|
||||
/// @return > 0 refer partlt complete solution
|
||||
/* -------------------------------------------------------------------------- */
|
||||
double brdm2pos(char nav_path[260], char obs_path[260], char res_path[260], int gnsscode)
|
||||
{
|
||||
int satnum, epochunum, result = 0;
|
||||
pos_ts pos_t = { 0 };
|
||||
xyz2blh tem2 = { 0 };
|
||||
stations station = { 0 };
|
||||
time_t gen_time; time(&gen_time);
|
||||
|
||||
pnav_head nav_h = NULL;
|
||||
pnav_body nav_b = NULL;
|
||||
pobs_head obs_h = NULL;
|
||||
pobs_body obs_b = NULL;
|
||||
pobs_epoch obs_e = NULL;
|
||||
|
||||
FILE* fp_nav = fopen(nav_path, "r");
|
||||
if (fp_nav == NULL) return -1;
|
||||
satnum = getsatnum(fp_nav);
|
||||
|
||||
switch (satnum) {
|
||||
case -1: return -3;//mismatch version or format
|
||||
case 0: return -4;//no data
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
rewind(fp_nav);
|
||||
nav_h = (pnav_head)malloc(sizeof(nav_head));
|
||||
nav_b = (pnav_body)malloc(sizeof(nav_body) * (satnum));
|
||||
if (nav_h && nav_b) {
|
||||
read_n_h(fp_nav, nav_h); read_n_b(fp_nav, nav_b);
|
||||
}
|
||||
fclose(fp_nav);
|
||||
|
||||
FILE* fp_obs = fopen(obs_path, "r");
|
||||
if (fp_obs == NULL) return -2;
|
||||
epochunum = get_epochnum(fp_obs);
|
||||
|
||||
switch (epochunum) {
|
||||
case -1: return -5;//mismatch version or format
|
||||
case 0: return -6;//no data
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
rewind(fp_obs);
|
||||
obs_h = (pobs_head)malloc(sizeof(obs_head));
|
||||
obs_e = (pobs_epoch)malloc(sizeof(obs_epoch));
|
||||
obs_b = (pobs_body)malloc(sizeof(obs_body));
|
||||
if (obs_h && obs_e && obs_b) {
|
||||
read_o_h(fp_obs, obs_h);
|
||||
|
||||
tem2 = XYZ2BLH(tem2, obs_h->apX, obs_h->apY, obs_h->apZ);
|
||||
station.B = tem2.B; station.L = tem2.L; station.H = tem2.H;
|
||||
|
||||
//Out put the header of solution file
|
||||
FILE* result_file_clear = fopen(res_path, "w");
|
||||
fclose(result_file_clear);
|
||||
FILE* result_file = fopen(res_path, "a+");
|
||||
fprintf(result_file, "@ GENERATE PROGRAM : KNZ_GeoTrackLab ver1.5.3.1\n");
|
||||
fprintf(result_file, "@ GENERATE TYPE : Satellite Position\n");
|
||||
fprintf(result_file, "@ GENERATE TIME : %s", ctime(&gen_time));
|
||||
fprintf(result_file, "@ OBS FILE PATH : %s\n", obs_path);
|
||||
fprintf(result_file, "@ NAV FILE PATH : %s\n", nav_path);
|
||||
fprintf(result_file, "@ TIME OF FIRST OBS : %4d %02d %02d %02d %02d %07.4f\n"
|
||||
, obs_h->f_y, obs_h->f_m, obs_h->f_d, obs_h->f_h, obs_h->f_min, obs_h->f_sec);
|
||||
fprintf(result_file, "@ TIME OF LAST OBS : %4d %02d %02d %02d %02d %07.4f\n"
|
||||
, obs_h->l_y, obs_h->l_m, obs_h->l_d, obs_h->l_h, obs_h->l_min, obs_h->l_sec);
|
||||
fprintf(result_file, "@ APPROX POSITION XYZ: %13.04f%13.04f%13.04f\n@ APPROX POSITION BLH: %12.07f %12.07f %12.07f\n"
|
||||
, obs_h->apX, obs_h->apY, obs_h->apZ
|
||||
, station.B, station.L, station.H);
|
||||
fprintf(result_file, "END OF HEADER\n");
|
||||
|
||||
//Begin to calculate
|
||||
for (int i = 0; i < epochunum; i++) {
|
||||
read_o_eb(fp_obs, obs_h, obs_e, obs_b);
|
||||
result += sat_pos_cal(obs_h, obs_e, obs_b, nav_b,
|
||||
result_file, station,
|
||||
gnsscode, satnum);
|
||||
fprintf(result_file, "\n");
|
||||
}
|
||||
|
||||
freeobs_e(obs_e, obs_b);
|
||||
free(obs_h); free(nav_h); free(nav_b);
|
||||
fprintf(result_file, "\nEND"); fclose(result_file);
|
||||
if (epochunum == result) return 0;
|
||||
}
|
||||
}
|
||||
Reference in new issue
Block a user