Archived
202 lines
10 KiB
C
202 lines
10 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<Windows.h>
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#include<math.h>
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#include<time.h>
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#include"public.h"
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#include"2gpst.h"
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#include"rahcal.h"
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#include"xyz2blh.h"
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#include"degRrad.h"
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#include"deg2dms.h"
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#include"blh2enu.h"
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#include"type2code.h"
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#include"select_epo.h"
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/* ------------------------------- GPS卫星位置计算函数 ------------------------------ */
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pos_ts gps_pos(int sPRN, int best_epoch, double GPSsec,
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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 = GPSsec - pos_t.delta_t[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;//归化时间改正
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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.X[sPRN] = cos(Earth_e * pos_t.delta_t[sPRN]) * X + sin(Earth_e * pos_t.delta_t[sPRN]) * Y;
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pos_t.Y[sPRN] = -sin(Earth_e * pos_t.delta_t[sPRN]) * X + cos(Earth_e * pos_t.delta_t[sPRN]) * Y;
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pos_t.Z[sPRN] = Z;
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double R = sqrt(pow(pos_t.X[sPRN] - obs_h->apX, 2) + pow(pos_t.Y[sPRN] - obs_h->apY, 2) + pow(pos_t.Z[sPRN] - obs_h->apZ, 2));
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pos_t.deltat[sPRN] = pos_t.delta_t[sPRN];
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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.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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pos_t.delta_t[sPRN] = R / C_V + pos_t.delta_clk[sPRN];
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return pos_t;
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}
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/* -------------------------------------------------------------------------- */
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/* ------------------------------- GPS卫星位置计算&输出 ------------------------------ */
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void sat_gps_pos_clac(FILE* result_file,HWND hwndPB,
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pnav_body nav_b, pobs_epoch obs_e, pobs_body obs_b,pobs_head obs_h,
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int o_epochnum, int gps_satnum,
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char res_file[MAX_PATH], char obs_file[MAX_PATH], char nav_file[MAX_PATH],
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int ionoption, int trooption)
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{
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PBRANGE range;
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SendMessage(hwndPB, PBM_SETRANGE, (WPARAM)FALSE, (LPARAM)(MAKELPARAM(0, 100)));
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SendMessage(hwndPB, PBM_GETRANGE, (WPARAM)TRUE, (LPARAM)&range);
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time_t gen_time;
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time(&gen_time);
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stations station = { 0 };
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xyz2blh tem2 = { 0 };
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tem2 = XYZ2BLH(tem2, obs_h->apX, obs_h->apY, obs_h->apZ);
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station.B = tem2.B;
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station.L = tem2.L;
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station.H = tem2.H;
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result_file = fopen(res_file, "w");
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fclose(result_file);
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result_file = fopen(res_file, "a+");
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fprintf(result_file, "@ GENERATE PROGRAM : SPP Calculate v0.4.7\n");
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fprintf(result_file, "@ GENERATE TYPE : Satellite Position\n");
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fprintf(result_file, "@ GENERATE TIME : %s", ctime(&gen_time));
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fprintf(result_file, "@ OBS FILE PATH : %s\n", obs_file);
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fprintf(result_file, "@ NAV FILE PATH : %s\n", nav_file);
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fprintf(result_file, "@ APPROX POSITION XYZ: %13.04f%13.04f%13.04f\n@ APPROX POSITION BLH: %12.07f %12.07f %12.07f\n"
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, obs_h->apX, obs_h->apY, obs_h->apZ
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, station.B, station.L, station.H);
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if (ionoption == 0) { fprintf(result_file, "@ IONOS OPT : NULL\n"); }
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if (ionoption == 1) { fprintf(result_file, "@ IONOS OPT : DEFAULT\n"); }
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if (trooption == 0) { fprintf(result_file, "@ TROPO OPT : NULL\n@\n\n"); }
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if (trooption == 1) { fprintf(result_file, "@ TROPO OPT : DEFAULT\n@\n\n"); }
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fclose(result_file);
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for (int i = 0; i < o_epochnum; i++)
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{
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result_file = fopen(res_file, "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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int y = obs_e[i].y;
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int m = obs_e[i].m;
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int d = obs_e[i].d;
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double h = obs_e[i].h;
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int min = obs_e[i].min;
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double sec = obs_e[i].sec;
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xyz2blh tem1 = { 0 };
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blh2enu tem3 = { 0 };
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rahcal tem4 = { 0 };
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deg2dms temb = { 0 };
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deg2dms teml = { 0 };
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blhs blh = { 0 };
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enus enu = { 0 };
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rahs rah = { 0 };
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pos_ts pos_t = { 0 };
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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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double GPSsec = Time2GPSsec(y, m, d, h, min, sec);//转换为GPS周内秒
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int sPRN = obs_e[i].sPRN_GPS[j];
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int best_epoch = select_epoch(GPSsec, sPRN, nav_b, gps_satnum); //遍历N文件GPS卫星数据块，寻找最佳历元
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double detat_toc = GPSsec - nav_b[best_epoch].TOE;//观测时刻 - 参考时刻
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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.delta_t[sPRN] = (obs_b[i].obs_gps[j][Code2Type(C1C, obs_h->obstypenum_gps, obs_h->obscode_gps)] / C_V) - station.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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pos_t.deltat[sPRN] = 0.0;//判断收敛
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while (fabs(pos_t.delta_t[sPRN] - pos_t.deltat[sPRN]) > 1.0e-9) {
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pos_t = gps_pos(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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tem1 = XYZ2BLH(tem1, pos_t.X[sPRN], pos_t.Y[sPRN], pos_t.Z[sPRN]);
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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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/* -------------------------------------------------------------------------- */
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/* ----------------------------- 经纬大地高坐标系转站心坐标系 ----------------------------- */
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double deltax = pos_t.X[sPRN] - obs_h->apX;
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double deltay = pos_t.Y[sPRN] - obs_h->apY;
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double deltaz = pos_t.Z[sPRN] - obs_h->apZ;
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tem3 = BLH2ENU(tem3, station.B, station.L, deltax, deltay, deltaz);
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enu.E = tem3.E;
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enu.N = tem3.N;
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enu.U = tem3.U;
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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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tem4 = RAHCAL(tem4, enu.E, enu.N, enu.U);
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rah.R = tem4.R;
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rah.A = rad2deg(tem4.A);
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rah.H = rad2deg(tem4.H);
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/* -------------------------------------------------------------------------- */
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if (blh.H < 0 || rah.H < 10 || nav_b[best_epoch].sHEA != 0)
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{
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continue;
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}
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else
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{
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temb = DEG2DMS(temb, blh.B);
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blh.B_d = temb.D;
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blh.B_m = temb.M;
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blh.B_s = temb.S;
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teml = DEG2DMS(teml, blh.L);
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blh.L_d = teml.D;
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blh.L_m = teml.M;
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blh.L_s = teml.S;
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result_file = fopen(res_file, "a+");
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fprintf(result_file, "\nG%02d | %15.05f %15.05f %15.05f %15.05f %15.05f %15.05f %15.12f %16.13f"
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, sPRN, pos_t.X[sPRN], pos_t.Y[sPRN], pos_t.Z[sPRN]
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, obs_b[i].obs_gps[j][Code2Type(C1C, obs_h->obstypenum_gps, obs_h->obscode_gps)]
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, obs_b[i].obs_gps[j][Code2Type(C2L, obs_h->obstypenum_gps, obs_h->obscode_gps)]
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, rah.H, nav_b[best_epoch].TGD, pos_t.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(res_file, "a+");
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fprintf(result_file, "\n");
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fclose(result_file);
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SendMessage(hwndPB, PBM_SETPOS, (WPARAM)((int)(i * 100 / o_epochnum)), (LPARAM)0);
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}
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result_file = fopen(res_file, "a+");
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fprintf(result_file, "\nEND");
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fclose(result_file);
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SendMessage(hwndPB, PBM_SETPOS, (WPARAM)range.iHigh, (LPARAM)0);
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}
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#endif |