#ifndef _CAL_MOD_H_ #define _CAL_MOD_H_ #include #include #include #include"read.h" #include"2gpst.h" #include"select_epo.h" FILE * result_file = NULL; #define a 6378137.0//长半轴 #define f (1 / 298.257223563)//扁率 #define e2 (f*(2-f))//第一偏心率平方 #define C_V 299792458//光速（m） #define GM 398600500000000//地心引力常数 #define math_e 2.718281828459 //e值 #define PI 3.141592653589793 #define Earth_e 7.2921151467e-5 //地球自转角速度 #define C1 0 //卫星位置结构体 typedef struct { double X[36]; double Y[36]; double Z[36]; double deltat[36];//改正前的信号传播时间 double delta_t[36];//改正后的信号传播时间 double delta_clk[36]; }pos_t, *ppos_t; //测站位置结构体 typedef struct { double X; double Y; double Z; double B; double L; double H; double delta_TR; }station, *pstation; typedef struct { double B; int B_d; int B_m; int B_s; double L; int L_d; int L_m; int L_s; double H; }blh, *pblh; typedef struct enu { double E; double N; double U; }enu, *penu; typedef struct rah { double R; double A; double H; }rah, *prah; //GPS卫星位置计算函数 int gps_pos(int eponum, int sPRN, int best_epoch, double GPSsec, pnav_body nav_b, pobs_head obs_h, ppos_t pos_t) { double T_S = GPSsec - pos_t[eponum].deltat[sPRN];//计算信号发射时刻 double n_0 = sqrt(GM) / pow(nav_b[best_epoch].sqrtA,3); double n = n_0 + nav_b[best_epoch].deltan; //计算卫星运行平均角速度 double tk = T_S - nav_b[best_epoch].TOE;//计算归化时间 if (tk > 32400)tk -= 604800; else if (tk < -32400)tk += 604800;//规划时间改正 double Ms = nav_b[best_epoch].M0 + n * tk;//计算卫星发射时卫星的平近角M double Es = Ms, E0;//迭代计算偏近点角 do { E0 = Es; Es = Ms + nav_b[best_epoch].e * sin(Es); } while (fabs(Es - E0) > 1.0e-5);//迭代计算偏近点角 //计算真近点角 double cosfs = (cos(Es) - nav_b[best_epoch].e) / (1 - nav_b[best_epoch].e * cos(Es)); double sinfs = (sqrt(1 - pow(nav_b[best_epoch].e, 2)) * sin(Es)) / (1 - nav_b[best_epoch].e * cos(Es)); double fs = atan2(sinfs, cosfs); double u0 = fs + nav_b[best_epoch].omega;//计算升交角距 //计算摄动改正项 double epsilon_u = nav_b[best_epoch].Cus * sin(2 * u0) + nav_b[best_epoch].Cuc * cos(2 * u0); double epsilon_r = nav_b[best_epoch].Crs * sin(2 * u0) + nav_b[best_epoch].Crc * cos(2 * u0); double epsilon_i = nav_b[best_epoch].Cis * sin(2 * u0) + nav_b[best_epoch].Cic * cos(2 * u0); double u = u0 + epsilon_u;//改正后的升交角距 double r = pow(nav_b[best_epoch].sqrtA, 2) * (1 - nav_b[best_epoch].e * cos(Es)) + epsilon_r;//改正后的轨道向径 double i = nav_b[best_epoch].i0 + epsilon_i + nav_b[best_epoch].IDOT * tk;//改正后的轨道倾角 double x = r * cos(u); double y = r * sin(u);//卫星在轨道平面坐标系中的坐标 double l = nav_b[best_epoch].OMEGA + (nav_b[best_epoch].deltaomega - Earth_e) * tk - Earth_e * nav_b[best_epoch].TOE; //计算升交点经度 double X = x * cos(l) - y * cos(i) * sin(l); double Y = x * sin(l) + y * cos(i) * cos(l); double Z = y * sin(i);//卫星在地固系下的直角坐标 pos_t[eponum].X[sPRN] = cos(Earth_e * pos_t[eponum].delta_t[sPRN]) * X + sin(Earth_e * pos_t[eponum].delta_t[sPRN]) * Y; pos_t[eponum].Y[sPRN] = -sin(Earth_e * pos_t[eponum].delta_t[sPRN]) * X + cos(Earth_e * pos_t[eponum].delta_t[sPRN]) * Y; pos_t[eponum].Z[sPRN] = Z; double R = sqrt(pow(pos_t[eponum].X[sPRN] - obs_h->apX, 2) + pow(pos_t[eponum].Y[sPRN] - obs_h->apY, 2) + pow(pos_t[eponum].Z[sPRN] - obs_h->apY, 2)); pos_t[eponum].deltat[sPRN] = pos_t[eponum].delta_t[sPRN]; pos_t[eponum].delta_t[sPRN] = R / C_V; double rela = 2*sqrt(GM) * nav_b[best_epoch].e * nav_b[best_epoch].sqrtA * sin(Es)/pow(C_V,2); pos_t[eponum].delta_clk[sPRN] = nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * tk + nav_b[best_epoch].sa2 * pow(tk,2) - rela; } //GPS卫星位置计算 int sat_gps_pos_clac(pnav_body nav_b, pobs_epoch obs_e, pobs_body obs_b, pobs_head obs_h, pstation station, ppos_t pos_t, pblh blh, penu enu, prah rah, int o_epochnum, int gps_satnum) { for (int i = 0; i < o_epochnum; i++)//第i个历元 { result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+"); fprintf(result_file, "\r>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec); fclose(result_file); result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+"); fprintf(result_file, "\r>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec); fclose(result_file); result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); fprintf(result_file, "\n>%04d %04d %02d %02d %02d %02d %07.04f",i + 1 ,obs_e[i].y ,obs_e[i].m ,obs_e[i].d ,obs_e[i].h ,obs_e[i].min ,obs_e[i].sec); fclose(result_file); for (int j = 0; j < obs_e[i].gps_num; j++)//第j颗GPS卫星 { int y = obs_e[i].y; int m = obs_e[i].m; int d = obs_e[i].d; double h = obs_e[i].h; int min = obs_e[i].min; double sec = obs_e[i].sec; //转换为GPS周内秒 double GPSsec = TimetoGPSsec(y, m, d, h, min, sec); int sPRN = obs_e[i].sPRN_GPS[j]; //遍历N文件GPS卫星数据块，寻找最佳历元 int best_epoch = select_epoch(GPSsec, sPRN, nav_b, gps_satnum); //观测时刻 - 参考时刻 double detat_toc = GPSsec - nav_b[best_epoch].TOE; station[i].delta_TR == 0.0; //计算近似的信号传播时间,接收机钟差已初始化为0(伪距/光速-接收机钟差+卫星钟差) pos_t[i].delta_t[sPRN] = (obs_b[i].obs_gps[j][C1] / C_V) - station[i].delta_TR + nav_b[best_epoch].sa0 + nav_b[best_epoch].sa1 * detat_toc + nav_b[best_epoch].sa2 * pow(detat_toc, 2); //判断收敛 pos_t[i].deltat[sPRN] = 0.0; while (fabs(pos_t[i].delta_t[sPRN] - pos_t[i].deltat[sPRN]) > 0.00001){ gps_pos( i, sPRN, best_epoch, GPSsec, nav_b, obs_h, pos_t); } //地固坐标系转经纬大地高坐标系******************************************************// double X = pos_t[i].X[sPRN]; double Y = pos_t[i].Y[sPRN]; double Z = pos_t[i].Z[sPRN]; double B = 0.0, N = 0.0, H = 0.0, R0, R1, deltaH, deltaB; R0 = sqrt(pow(X, 2) + pow(Y, 2)); R1 = sqrt(pow(X, 2) + pow(Y, 2) + pow(Z, 2)); //经度直接求解 blh->L = atan2(Y, X) * 57.295779513; //迭代求大地维度和大地高 N = a; H = R1 - a; B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H)); do { deltaH = N;//判断收敛所用 deltaB = B; N = a / sqrt(1 - e2 * pow(sin(B), 2)); H = R0 / cos(B) - N; B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H)); } while (fabs(deltaH - H) > 1.0e-3 && fabs(deltaB - B) > 1.0e-9); blh->B = B * 57.295779513; blh->H = H ; //*******************************************************************************// //地固坐标系转经纬大地高坐标系******************************************************// X = obs_h->apX; Y = obs_h->apY; Z = obs_h->apZ; B = 0.0, N = 0.0, H = 0.0; R0 = sqrt(pow(X, 2) + pow(Y, 2)); R1 = sqrt(pow(X, 2) + pow(Y, 2) + pow(Z, 2)); //经度直接求解 station->L = atan2(Y, X); //迭代求大地维度和大地高 N = a; H = R1 - a; B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H)); do { deltaH = N;//判断收敛所用 deltaB = B; N = a / sqrt(1 - e2 * pow(sin(B), 2)); H = R0 / cos(B) - N; B = atan2(Z * (N + H), R0 * (N * (1 - e2) + H)); } while (fabs(deltaH - H) > 1.0e-3 && fabs(deltaB - B) > 1.0e-9); station->B = B; station->H = H; //*******************************************************************************// //大地高坐标系转东北天坐标系*******************************************************// double sinL = sin(station->L); double cosL = cos(station->L); double sinB = sin(station->B); double cosB = cos(station->B); enu->E = -sinL*(pos_t[i].X[sPRN] - obs_h->apX) + cosL*(pos_t[i].Y[sPRN] - obs_h->apY); enu->N = -sinB*cosL*(pos_t[i].X[sPRN] - obs_h->apX) - sinB*sinL*(pos_t[i].Y[sPRN] - obs_h->apY) + cosB*(pos_t[i].Z[sPRN] - obs_h->apZ); enu->U = cosB*cosL*(pos_t[i].X[sPRN] - obs_h->apX) + cosB*sinL*(pos_t[i].Y[sPRN] - obs_h->apY) + sinB*(pos_t[i].Z[sPRN] - obs_h->apZ); //*******************************************************************************// //卫星方位角a，高度角h，向径r计算**************************************************// rah->H = atan2(enu->U, sqrt(enu->E * enu->E + enu->N * enu->N)) * 57.295779513; rah->A = atan2(enu->E, enu->U) * 57.295779513; if (rah->A < 0) rah->A += 2 * PI; if (rah->A > 2 * PI) rah->A -= 2 * PI; rah->R = sqrt(enu->E * enu->E + enu->N * enu->N + enu->U * enu->U); //*******************************************************************************// if (blh->H < 0 || nav_b[best_epoch].sHEA != 0) { break; } else { int B_sig = blh->B / fabs(blh->B);//符号判断 blh->B_d = (int)(blh->B);//转换为度分秒 blh->B_m = (int)((blh->B - blh->B_d) * 60);//分秒去除符号格式 blh->B_s = (int)(((blh->B - blh->B_d) * 60 - blh->B_m) * 60); blh->B_m = blh->B_m * B_sig; blh->B_s = blh->B_s * B_sig; int L_sig = blh->L / fabs(blh->L); blh->L_d = (int)(blh->L);//转换为度分秒 blh->L_m = (int)((blh->L - blh->L_d) * 60); blh->L_s = (int)(((blh->L - blh->L_d) * 60 - blh->L_m) * 60); blh->L_m = blh->L_m * L_sig; blh->L_s = blh->L_s * L_sig; result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+"); fprintf(result_file, "\nG%02d[sPRN] %4d° %02d′ %02d″ %4d° %02d′ %02d″ %15.05f",sPRN, blh->B_d, blh->B_m, blh->B_s, blh->L_d, blh->L_m, blh->L_s, blh->H); fclose(result_file); result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+"); fprintf(result_file, "\nG%02d[sPRN] %10.05f %10.05f %15.05f",sPRN, blh->B, blh->L, blh->H); fclose(result_file); result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); fprintf(result_file, "\nG%02d[sPRN] %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %15.12f %16.13f" ,sPRN, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], obs_b[i].obs_gps[j][C1], obs_b[i].obs_gps[j][10], rah->H, nav_b[best_epoch].TGD, pos_t[i].delta_clk[sPRN]); fclose(result_file); } } result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); fprintf(result_file, "\n"); fclose(result_file); } result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+"); fprintf(result_file, "\nEND"); fclose(result_file); } #endif