Archived
184 lines
6.4 KiB
Matlab
184 lines
6.4 KiB
Matlab
function [ENU] = Station_Site_Solving()
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% 打开坐标文件
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file=fopen('LLA_result.txt');
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sPRN = [];
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satX = [];
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satY = [];
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satZ = [];
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P_t1 = [];
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P_t2 = [];
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H = [];
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TGD = [];
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Dt = [];
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sat_num = [];
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C_V = 299792458;
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f1 = 1575.42;
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f2 = 1227.60;
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satnum = 0;
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eponum = 0;
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% 设置测站粗略坐标和精确的经纬高数据
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apX = -4052052.8310;
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apY = 4212835.9820;
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apZ = -2545104.4760;
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apB = -0.4131213;%纬度
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apL = 2.3367431;%经度
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apH = 603.235;
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% 逐行读取文件
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while ~feof(file)
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line = fgets(file);
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flag_epo = extractBetween(line,1 ,1 );
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% 判断历元标识
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if strcmp(flag_epo, ">") == 1
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eponum = str2double(extractBetween(line,2 ,5 ));
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while eponum <= 2880
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flag_sat = extractBetween(line,1 ,1);
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% 判断卫星标识，读取卫星PRN号和XYZ坐标
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if strcmp(flag_sat, "G") == 1
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satnum = satnum + 1;
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P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
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if P_t1(eponum, satnum) ~= 0
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sPRN(eponum, satnum) = str2double(extractBetween(line,2 ,3 ));
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satX(eponum, satnum) = str2double(extractBetween(line,11 ,25 ));
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satY(eponum, satnum) = str2double(extractBetween(line,11 + 16 ,25 + 16 ));
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satZ(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 ,25 + 16 + 16 ));
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P_t1(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 ,25 + 16 + 16 + 16 ));
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P_t2(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16));
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H(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16));
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TGD(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 ,25 + 16 + 16 + 16 + 16 + 16 + 16));
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Dt(eponum, satnum) = str2double(extractBetween(line,11 + 16 + 16 + 16 + 16 + 16 + 16 + 16,25 + 16 + 16 + 16 + 16 + 16 + 16 + 16));
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line = fgets(file);
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end
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if P_t1(eponum, satnum) == 0
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satnum = satnum - 1;
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line = fgets(file);
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end
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end
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% 开头字符不是G，但是是>,判断为一个历元的起点，进行数据读取
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if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 1
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satnum = 0;
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line = fgets(file);
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continue;
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end
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% 开头字符既不是G，也不是>,判断为历元结束标志，跳出循环
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if strcmp(flag_sat, "G") == 0 && strcmp(flag_sat, ">") == 0 && ~feof(file)
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sat_num(eponum) = satnum;
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satnum = 0;
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break;
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end
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end
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end
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if strcmp(flag_epo, ">") == 0
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continue;
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end
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end
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fclose(file);
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% 平差计算测站位置和接收机钟差解算
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for i = 1:1:eponum
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if sat_num(i) >= 4
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X = zeros(4, 1);
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P = zeros(sat_num(i), sat_num(i));
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B = zeros(sat_num(i), 4);
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l = zeros(sat_num(i), 1);
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X_R = zeros(3, 1);
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DeltaXYZ = zeros(3, 1);
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% 每个历元构成系数矩阵
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for j = 1:1:sat_num(i)
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R = sqrt((satX(i, j)-apX)^2+(satY(i, j)-apY)^2+(satZ(i, j)-apZ)^2);
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B(j, 1) = -((satX(i, j) - apX) / R);
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B(j, 2) = -((satY(i, j) - apY) / R);
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B(j, 3) = -((satZ(i, j) - apZ) / R);
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B(j, 4) = 1;
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% 简化的Hopfield模型
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dtrop = 2.47/sind(H(i, j))+0.0121;
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% % % % % % % 理想化的Saastamoinen模型/对流层改正
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% P0 = 1013.25; e0 = 11.69; T0 = 288.15;
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% % 求大气压强
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% p = P0 * (1.0 - 0.0068 / T0 / apH)^5;
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% % 求开尔文温度
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% T = 288.15 - 0.0068 * apH;
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% % 水汽压计算
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% if apH > 11000
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% e = 0;
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% end
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% if apH <= 11000
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% e = e0 * (1.0 - 0.0068 * apH / T0)^4;
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% end
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% % 静力学延迟
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% dtrop = 0.002277 * p / (1.0 - 0.00266 * cosd(2 * H(i, j)) - 0.00028 * apH * 1e-3) ;
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% % % % % % % % % % % % % % % % % % % % % % % % %
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if P_t2(i, j) ~= 0
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% 双频组合消除电离层延迟
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P_t = (f1^2) / (f1^2 - f2^2) * P_t1(i, j) - (f2^2) / (f1^2 - f2^2) * P_t2(i, j);
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end
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if P_t2(i, j) == 0
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P_t = P_t1(i, j);
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end
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l(j, 1) = P_t - R + C_V * Dt(i,j) - dtrop;
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if H(i, j)<5
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H(i, j) = H(i, j);
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end
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P(j, j) = sind(H(i, j))^2;
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end
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apX_R = apX;%迭代坐标传参
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apY_R = apY;
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apZ_R = apZ;
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% 平差计算得到改正数并进行迭代计算
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while abs(apX_R - X_R(1,1)) > 0.0001 && abs(apY_R - X_R(2,1)) > 0.0001 && abs(apZ_R - X_R(3,1)) > 0.0001
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apX_R = X(1,1);
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apY_R = X(2,1);
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apZ_R = X(3,1);
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Q=inv(B.'*P*B);
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D_X=Q*B.'*P*l;%坐标改正数
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X(1,1) = apX + D_X(1,1);
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X(2,1) = apY + D_X(2,1);
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X(3,1) = apZ + D_X(3,1);%改正后测站坐标
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X_R(1,1) = X(1,1);
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X_R(2,1) = X(2,1);
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X_R(3,1) = X(3,1);
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end
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GDOP(1,i) = sqrt(trace(Q));
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StationCLK(1,i) = D_X(4, 1);
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DeltaXYZ(1,1) = X(1,1) - apX;
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DeltaXYZ(2,1) = X(2,1) - apY;
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DeltaXYZ(3,1) = X(3,1) - apZ;
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S = [
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-sin(apL), cos(apL), 0;
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-sin(apB)*cos(apL), -sin(apB)*sin(apL), cos(apB);
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cos(apB)*cos(apL), cos(apB)*sin(apL), sin(apB)
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];
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ENU_R = S * DeltaXYZ;
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ENU(1,i) = ENU_R(1,1);
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ENU(2,i) = ENU_R(2,1);
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ENU(3,i) = ENU_R(3,1);
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end
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end
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%绘制结果图
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figure("Position",[200, 700,1000,200],"Name", "East component deviation","NumberTitle","off")
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bar(ENU(1,:))%E
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box off
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figure("Position",[200, 400,1000,200],"Name","North component deviation","NumberTitle","off")
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bar(ENU(2,:))%N
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box off
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figure("Position",[200, 100,1000,200],"Name", "Up component deviation","NumberTitle","off")
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bar(ENU(3,:))%U
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box off
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