Archived
211 lines
11 KiB
C
211 lines
11 KiB
C
#ifndef _CAL_MOD_H_
|
||
#define _CAL_MOD_H_
|
||
#include<stdio.h>
|
||
#include<stdlib.h>
|
||
#include<math.h>
|
||
|
||
#include"read.h"
|
||
#include"2gpst.h"
|
||
#include"select_epo.h"
|
||
#include"xyz2blh.h"
|
||
#include"degRrad.h"
|
||
#include"deg2dms.h"
|
||
#include"blh2enu.h"
|
||
#include"rahcal.h"
|
||
|
||
/* ------------------------------- 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&输出 ------------------------------ */
|
||
int sat_gps_pos_clac(FILE * result_file,
|
||
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)
|
||
{ int progress = 0;
|
||
int count = 0;
|
||
xyz2blh tem1 = {0};
|
||
xyz2blh tem2 = {0};
|
||
blh2enu tem3 = {0};
|
||
rahcal tem4 = {0};
|
||
deg2dms temb = {0};
|
||
deg2dms teml = {0};
|
||
blh = (pblh)malloc(sizeof(pblh) * o_epochnum* 256);
|
||
enu = (penu)malloc(sizeof(penu) * o_epochnum* 256);
|
||
rah = (prah)malloc(sizeof(prah) * o_epochnum* 256);
|
||
pos_t = (ppos_t)malloc(sizeof(ppos_t) * o_epochnum* 256);
|
||
station = (pstation)malloc(sizeof(pstation) * o_epochnum* 256);
|
||
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, "\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);
|
||
result_file = fopen(".\\Draw the Track[by PyGMT]\\LLA_result_for_PyGMT.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);
|
||
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 = Time2GPSsec(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 ----------------------------- */
|
||
tem1 = XYZ2BLH( tem1, pos_t[i].X[sPRN], pos_t[i].Y[sPRN], pos_t[i].Z[sPRN]);
|
||
blh->B = rad2deg(tem1.B);
|
||
blh->L = rad2deg(tem1.L);
|
||
blh->H = tem1.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;
|
||
/* -------------------------------------------------------------------------- */
|
||
|
||
/* ----------------------------- 经纬大地高坐标系转站心坐标系 ----------------------------- */
|
||
double deltax = pos_t[i].X[sPRN] - obs_h->apX;
|
||
double deltay = pos_t[i].Y[sPRN] - obs_h->apY;
|
||
double deltaz = pos_t[i].Z[sPRN] - obs_h->apZ;
|
||
|
||
tem3 = BLH2ENU(tem3, station->B, station->L, deltax, deltay, deltaz);
|
||
enu->E = tem3.E;
|
||
enu->N = tem3.N;
|
||
enu->U = tem3.U;
|
||
/* -------------------------------------------------------------------------- */
|
||
|
||
/* ---------------------------- 卫星方位角a，高度角h，向径r计算 --------------------------- */
|
||
tem4 = RAHCAL(tem4, enu->E, enu->N, enu->U);
|
||
rah->R = tem4.R;
|
||
rah->A = rad2deg(tem4.A);
|
||
rah->H = rad2deg(tem4.H);
|
||
/* -------------------------------------------------------------------------- */
|
||
if (blh->H < 0 || nav_b[best_epoch].sHEA != 0)
|
||
{
|
||
break;
|
||
}
|
||
else
|
||
{
|
||
temb = DEG2DMS(temb, blh->B);
|
||
blh->B_d = temb.D;
|
||
blh->B_m = temb.M;
|
||
blh->B_s = temb.S;
|
||
|
||
teml = DEG2DMS(teml, blh->L);
|
||
blh->L_d = teml.D;
|
||
blh->L_m = teml.M;
|
||
blh->L_s = teml.S;
|
||
|
||
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);
|
||
|
||
/* -------------------------------------------------------------------------- */
|
||
//const char * progressstr = "[----------------------------------------------------]100%%";
|
||
|
||
int progress_now = (int)(((i+1)*100/2880));
|
||
if ((progress_now - progress)>=2)
|
||
{
|
||
printf("=");
|
||
count++;
|
||
progress = progress_now;
|
||
printf("=]%3d%%", progress);
|
||
for(int countb = 0; countb < (5); countb++)
|
||
{
|
||
printf("\b");
|
||
}
|
||
}
|
||
|
||
/* -------------------------------------------------------------------------- */
|
||
}
|
||
|
||
result_file = fopen(".\\Observation_Station_Site-Solving_by_Matlab\\LLA_result_for_Matlab.txt", "a+");
|
||
fprintf(result_file, "\nEND");
|
||
fclose(result_file);
|
||
free(blh);blh = NULL;
|
||
free(enu);enu = NULL;
|
||
free(rah);rah = NULL;
|
||
free(pos_t);pos_t = NULL;
|
||
free(station);station = NULL;
|
||
return 1;
|
||
}
|
||
|
||
#endif |