Archived
240 lines
12 KiB
C
240 lines
12 KiB
C
#ifndef _CAL_MOD_H_
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#define _CAL_MOD_H_
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#include<stdio.h>
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#include<stdlib.h>
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#include<math.h>
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#include"read.h"
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#include"2gpst.h"
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#include"select_epo.h"
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#include"xyz2blh.h"
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/* -------------------------------------------------------------------------- */
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#define a 6378137.0//长半轴
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#define f (1 / 298.257223563)//扁率
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#define e2 (f*(2-f))//第一偏心率平方
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#define C_V 299792458//光速（m）
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#define GM 398600500000000//地心引力常数
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#define math_e 2.718281828459 //e值
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#define PI 3.141592653589793
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#define Earth_e 7.2921151467e-5 //地球自转角速度
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#define C1 0
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/* -------------------------------------------------------------------------- */
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//卫星位置结构体
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typedef struct
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{
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double X[36];
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double Y[36];
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double Z[36];
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double deltat[36];//改正前的信号传播时间
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double delta_t[36];//改正后的信号传播时间
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double delta_clk[36];
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}pos_t, *ppos_t;
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//测站位置结构体
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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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}station, *pstation;
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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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}blh, *pblh;
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typedef struct enu
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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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}enu, *penu;
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typedef struct rah
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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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}rah, *prah;
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/* ------------------------------- GPS卫星位置计算函数 ------------------------------ */
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int gps_pos(int eponum, int sPRN, int best_epoch, double GPSsec,
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pnav_body nav_b, pobs_head obs_h, ppos_t pos_t)
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{
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double T_S = GPSsec - pos_t[eponum].deltat[sPRN];//计算信号发射时刻
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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; //计算卫星运行平均角速度
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double tk = T_S - nav_b[best_epoch].TOE;//计算归化时间
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if (tk > 32400)tk -= 604800;
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else if (tk < -32400)tk += 604800;//规划时间改正
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double Ms = nav_b[best_epoch].M0 + n * tk;//计算卫星发射时卫星的平近角M
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double Es = Ms, E0;//迭代计算偏近点角
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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-5);//迭代计算偏近点角
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//计算真近点角
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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;//计算升交角距
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//计算摄动改正项
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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;//改正后的升交角距
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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
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double i = nav_b[best_epoch].i0 + epsilon_i + nav_b[best_epoch].IDOT * tk;//改正后的轨道倾角
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double x = r * cos(u);
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double y = r * sin(u);//卫星在轨道平面坐标系中的坐标
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double 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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//计算升交点经度
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double X = x * cos(l) - y * cos(i) * sin(l);
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double Y = x * sin(l) + y * cos(i) * cos(l);
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double Z = y * sin(i);//卫星在地固系下的直角坐标
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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;
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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;
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pos_t[eponum].Z[sPRN] = Z;
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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));
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pos_t[eponum].deltat[sPRN] = pos_t[eponum].delta_t[sPRN];
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pos_t[eponum].delta_t[sPRN] = R / C_V;
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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);
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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;
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}
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/* -------------------------------------------------------------------------- */
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/* ------------------------------- GPS卫星位置计算 ------------------------------ */
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int sat_gps_pos_clac(FILE * result_file,
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pnav_body nav_b, pobs_epoch obs_e, pobs_body obs_b,
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pobs_head obs_h, pstation station, ppos_t pos_t,
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pblh blh, penu enu, prah rah,
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int o_epochnum, int gps_satnum)
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{
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for (int i = 0; i < o_epochnum; i++)//第i个历元
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{
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result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+");
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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);
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fclose(result_file);
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result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+");
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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);
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fclose(result_file);
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result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
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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);
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fclose(result_file);
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for (int j = 0; j < obs_e[i].gps_num; j++)//第j颗GPS卫星
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{
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int y = obs_e[i].y; int m = obs_e[i].m; int d = obs_e[i].d;
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double h = obs_e[i].h; int min = obs_e[i].min; double sec = obs_e[i].sec;
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//转换为GPS周内秒
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double GPSsec = TimetoGPSsec(y, m, d, h, min, sec);
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int sPRN = obs_e[i].sPRN_GPS[j];
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//遍历N文件GPS卫星数据块，寻找最佳历元
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int best_epoch = select_epoch(GPSsec, sPRN, nav_b, gps_satnum);
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//观测时刻 - 参考时刻
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double detat_toc = GPSsec - nav_b[best_epoch].TOE;
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station[i].delta_TR == 0.0;
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//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)
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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);
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//判断收敛
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pos_t[i].deltat[sPRN] = 0.0;
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while (fabs(pos_t[i].delta_t[sPRN] - pos_t[i].deltat[sPRN]) > 0.00001){
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gps_pos( i, sPRN, best_epoch, GPSsec, nav_b, obs_h, pos_t);
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}
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/* ----------------------------- 地固坐标系转经纬大地高坐标系 ----------------------------- */
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pxyz2blh tem1 = NULL;
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tem1 = (pxyz2blh)malloc(sizeof(pxyz2blh));
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tem1 = XYZtoBLH( tem1, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN], a, e2);
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blh->B = tem1->B;
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blh->L = tem1->L;
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blh->H = tem1->H;
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pxyz2blh tem2 = NULL;
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tem2 = (pxyz2blh)malloc(sizeof(pxyz2blh));
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tem2 = XYZtoBLH( tem2, obs_h->apX, obs_h->apY, obs_h->apZ, a, e2);
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station->B = tem2->B / 57.295779513;
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station->L = tem2->L / 57.295779513;
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station->H = tem2->H;
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/* -------------------------------------------------------------------------- */
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double sinL = sin(station->L);
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double cosL = cos(station->L);
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double sinB = sin(station->B);
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double cosB = cos(station->B);
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enu->E = -sinL*(pos_t[i].X[sPRN] - obs_h->apX) + cosL*(pos_t[i].Y[sPRN] - obs_h->apY);
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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);
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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);
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/* -------------------------------------------------------------------------- */
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/* ---------------------------- 卫星方位角a，高度角h，向径r计算 --------------------------- */
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rah->H = atan2(enu->U, sqrt(enu->E * enu->E + enu->N * enu->N)) * 57.295779513;
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rah->A = atan2(enu->E, enu->U) * 57.295779513;
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if (rah->A < 0)
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rah->A += 2 * PI;
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if (rah->A > 2 * PI)
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rah->A -= 2 * PI;
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rah->R = sqrt(enu->E * enu->E + enu->N * enu->N + enu->U * enu->U);
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/* -------------------------------------------------------------------------- */
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if (blh->H < 0 || nav_b[best_epoch].sHEA != 0)
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{
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break;
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}
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else
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{ int B_sig = blh->B / fabs(blh->B);//符号判断
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blh->B_d = (int)(blh->B);//转换为度分秒
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blh->B_m = (int)((blh->B - blh->B_d) * 60);//分秒去除符号格式
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blh->B_s = (int)(((blh->B - blh->B_d) * 60 - blh->B_m) * 60);
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blh->B_m = blh->B_m * B_sig;
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blh->B_s = blh->B_s * B_sig;
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int L_sig = blh->L / fabs(blh->L);
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blh->L_d = (int)(blh->L);//转换为度分秒
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blh->L_m = (int)((blh->L - blh->L_d) * 60);
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blh->L_s = (int)(((blh->L - blh->L_d) * 60 - blh->L_m) * 60);
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blh->L_m = blh->L_m * L_sig;
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blh->L_s = blh->L_s * L_sig;
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result_file = fopen(".\\Pos_out\\LLA_result_for_read.txt", "a+");
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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);
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fclose(result_file);
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result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.txt", "a+");
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fprintf(result_file, "\nG%02d[sPRN] %10.05f %10.05f %15.05f",sPRN, blh->B, blh->L, blh->H);
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fclose(result_file);
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result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
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fprintf(result_file, "\nG%02d[sPRN] %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %15.12f %16.13f"
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,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]);
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fclose(result_file);
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}
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}
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result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
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fprintf(result_file, "\n");
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fclose(result_file);
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}
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result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
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fprintf(result_file, "\nEND");
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fclose(result_file);
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}
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#endif |