kopia lustrzana https://github.com/rs1729/RS
rs92: SV health
Zilog80
rodzic
c9af05c28a
commit
07b051699a
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@ -45,7 +45,7 @@ void ecef2elli(double X, double Y, double Z, double *lat, double *lon, double *a
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R = EARTH_a / sqrt( 1 - ea2*sin(phi)*sin(phi) );
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*alt = p / cos(phi) - R;
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*lat = phi*180.0/PI;
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*lon = lam*180.0/PI;
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}
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@ -205,7 +205,7 @@ int read_RNXephemeris(FILE *fp, EPHEM_t eph[][24]) {
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//memset(&ephem, 0, sizeof(ephem));
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; sscanf(buf, "%d", &ui);
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; sscanf(buf, "%d", &ui);
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ephem.prn = ui;
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@ -234,21 +234,21 @@ int read_RNXephemeris(FILE *fp, EPHEM_t eph[][24]) {
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.af2 = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iode = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crs = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.delta_n = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.M0 = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cuc = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.e = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cus = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.sqrta = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.toe = dbl;
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ephem.toc = ephem.toe;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cic = dbl;
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@ -256,28 +256,28 @@ int read_RNXephemeris(FILE *fp, EPHEM_t eph[][24]) {
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cis = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.i0 = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crc = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.w = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.OmegaDot = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.idot = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.codeL2 = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.gpsweek = (int)dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.sva = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.svh = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.health = (ui8_t)(dbl+0.1);
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.tgd = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl;
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if ((c=fgetc(fp)) == EOF) break;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.ttom = dbl;
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pbuf = fgets(buf_header, 82, fp);
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/* // die letzten beiden Felder (spare) sind manchmal leer (statt 0.00); manchmal fehlt sogar das drittletzte Feld
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@ -325,7 +325,7 @@ EPHEM_t *read_RNXpephs(FILE *fp) {
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if (ui < 33) count++;
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for (i = 1; i < 8; i++) {
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pbuf = fgets(buffer, 84, fp); if (pbuf == 0) break;
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}
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}
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}
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//printf("Ephemerides: %d\n", count);
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@ -340,7 +340,7 @@ EPHEM_t *read_RNXpephs(FILE *fp) {
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//memset(&ephem, 0, sizeof(ephem));
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; sscanf(buf, "%d", &ui);
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; sscanf(buf, "%d", &ui);
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ephem.prn = ui;
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for (i = 0; i < 16; i++) ephem.epoch[i] = '0';
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@ -365,21 +365,21 @@ EPHEM_t *read_RNXpephs(FILE *fp) {
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.af2 = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iode = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crs = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.delta_n = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.M0 = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cuc = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.e = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cus = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.sqrta = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.toe = dbl;
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ephem.toc = ephem.toe;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cic = dbl;
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@ -387,28 +387,28 @@ EPHEM_t *read_RNXpephs(FILE *fp) {
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cis = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.i0 = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crc = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.w = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.OmegaDot = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.idot = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.codeL2 = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.gpsweek = (int)dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.sva = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.svh = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.health = (ui8_t)(dbl+0.1);
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.tgd = dbl;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl;
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while ((c=fgetc(fp)) != '\n') { if (c == EOF) break; }
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0;
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l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.ttom = dbl;
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pbuf = fgets(buffer, 84, fp);
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/* // die letzten beiden Felder (spare) sind manchmal leer (statt 0.00); manchmal fehlt sogar das drittletzte Feld
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@ -443,23 +443,23 @@ EPHEM_t *read_RNXpephs(FILE *fp) {
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void GPS_SatelliteClockCorrection(
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const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks]
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const double transmission_gpstow, // GPS time of week when signal was transmit [s]
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const double transmission_gpstow, // GPS time of week when signal was transmit [s]
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const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks]
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const double toe, // ephemeris: time of week [s]
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const double toc, // ephemeris: clock reference time of week [s]
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const double af0, // ephemeris: polynomial clock correction coefficient [s],
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const double af1, // ephemeris: polynomial clock correction coefficient [s/s],
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const double af2, // ephemeris: polynomial clock correction coefficient [s/s^2]
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const double af2, // ephemeris: polynomial clock correction coefficient [s/s^2]
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const double ecc, // ephemeris: eccentricity of satellite orbit []
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const double sqrta, // ephemeris: square root of the semi-major axis of orbit [m^(1/2)]
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const double delta_n, // ephemeris: mean motion difference from computed value [rad]
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const double m0, // ephemeris: mean anomaly at reference time [rad]
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const double tgd, // ephemeris: group delay differential between L1 and L2 [s]
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double* clock_correction ) // ephemeris: satellite clock correction [m]
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{
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{
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int j;
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double tot; // time of transmission (including gps week) [s]
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double tot; // time of transmission (including gps week) [s]
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double tk; // time from ephemeris reference epoch [s]
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double tc; // time from clock reference epoch [s]
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double d_tr; // relativistic correction term [s]
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@ -467,9 +467,9 @@ void GPS_SatelliteClockCorrection(
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double a; // semi-major axis of orbit [m]
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double n; // corrected mean motion [rad/s]
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double M; // mean anomaly, [rad]
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double E; // eccentric anomaly [rad]
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double E; // eccentric anomaly [rad]
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// compute the times from the reference epochs
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// compute the times from the reference epochs
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tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow;
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tk = tot - (ephem_week*SECONDS_IN_WEEK + toe);
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tc = tot - (ephem_week*SECONDS_IN_WEEK + toc);
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@ -478,21 +478,21 @@ void GPS_SatelliteClockCorrection(
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a = sqrta*sqrta;
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n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // mean motion
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n += delta_n; // corrected mean motion
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// Kepler-Gleichung M = E - e sin(E)
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M = m0 + n*tk; // mean anomaly
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E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1,
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for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1.
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E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
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E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
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} // konvergiert langsam gegen E_0 = f(E_0)
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// relativistic correction
|
||||
d_tr = RELATIVISTIC_CLOCK_CORRECTION * ecc * sqrta * sin(E); // [s]
|
||||
d_tr *= LIGHTSPEED;
|
||||
|
||||
// clock correction
|
||||
d_tsv = af0 + af1*tc + af2*tc*tc; // [s]
|
||||
|
||||
|
||||
// L1 only
|
||||
d_tsv -= tgd; // [s]
|
||||
|
||||
|
|
@ -501,9 +501,9 @@ void GPS_SatelliteClockCorrection(
|
|||
|
||||
}
|
||||
|
||||
void GPS_ComputeSatellitePosition(
|
||||
void GPS_ComputeSatellitePosition(
|
||||
const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks]
|
||||
const double toe, // ephemeris: time of week [s]
|
||||
const double m0, // ephemeris: mean anomaly at reference time [rad]
|
||||
|
|
@ -523,16 +523,16 @@ void GPS_ComputeSatellitePosition(
|
|||
const double cis, // ephemeris: sin harmonic correction term to the angle of inclination [rad]
|
||||
double* x, // satellite x [m]
|
||||
double* y, // satellite y [m]
|
||||
double* z ) // satellite z [m]
|
||||
double* z ) // satellite z [m]
|
||||
{
|
||||
int j;
|
||||
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tk; // time from ephemeris reference epoch [s]
|
||||
double a; // semi-major axis of orbit [m]
|
||||
double n; // corrected mean motion [rad/s]
|
||||
double M; // mean anomaly, [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
double v; // true anomaly [rad]
|
||||
double u; // argument of latitude, corrected [rad]
|
||||
double r; // radius in the orbital plane [m]
|
||||
|
|
@ -553,33 +553,33 @@ void GPS_ComputeSatellitePosition(
|
|||
double sini; // sin(i)
|
||||
double cosE; // cos(E)
|
||||
double sinE; // sin(E)
|
||||
|
||||
|
||||
// compute the times from the reference epochs
|
||||
|
||||
// compute the times from the reference epochs
|
||||
tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow;
|
||||
tk = tot - (ephem_week*SECONDS_IN_WEEK + toe);
|
||||
|
||||
|
||||
// compute the corrected mean motion term
|
||||
a = sqrta*sqrta;
|
||||
n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // computed mean motion
|
||||
n += delta_n; // corrected mean motion
|
||||
|
||||
|
||||
// Kepler-Gleichung M = E - e sin(E)
|
||||
M = m0 + n*tk; // mean anomaly
|
||||
E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1,
|
||||
for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1.
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
} // konvergiert langsam gegen E_0 = f(E_0)
|
||||
|
||||
cosE = cos(E);
|
||||
sinE = sin(E);
|
||||
|
||||
|
||||
// true anomaly
|
||||
v = atan2( (sqrt(1.0 - ecc*ecc)*sinE), (cosE - ecc) );
|
||||
// argument of latitude
|
||||
u = v + w;
|
||||
// radius in orbital plane
|
||||
r = a * (1.0 - ecc * cos(E));
|
||||
r = a * (1.0 - ecc * cos(E));
|
||||
// orbital inclination
|
||||
i = i0;
|
||||
|
||||
|
|
@ -587,10 +587,10 @@ void GPS_ComputeSatellitePosition(
|
|||
//
|
||||
cos2u = cos(2.0*u);
|
||||
sin2u = sin(2.0*u);
|
||||
// argument of latitude correction
|
||||
d_u = cuc * cos2u + cus * sin2u;
|
||||
// radius correction
|
||||
d_r = crc * cos2u + crs * sin2u;
|
||||
// argument of latitude correction
|
||||
d_u = cuc * cos2u + cus * sin2u;
|
||||
// radius correction
|
||||
d_r = crc * cos2u + crs * sin2u;
|
||||
// correction to inclination
|
||||
d_i = cic * cos2u + cis * sin2u;
|
||||
|
||||
|
|
@ -613,7 +613,7 @@ void GPS_ComputeSatellitePosition(
|
|||
// fuer GPS-Loesung (Sats in ECI) Erdrotation hinzuziehen:
|
||||
// rotZ(EARTH_ROTATION_RATE*0.072), 0.072s*299792458m/s=21585057m
|
||||
|
||||
// compute the WGS84 ECEF coordinates,
|
||||
// compute the WGS84 ECEF coordinates,
|
||||
// vector r with components x & y is now rotated using, R3(-omegak)*R1(-i)
|
||||
cos_omegak = cos(omegak);
|
||||
sin_omegak = sin(omegak);
|
||||
|
|
@ -651,7 +651,7 @@ void GPS_SatellitePosition_Ephem(
|
|||
ephem.delta_n, ephem.M0, ephem.tgd, clock_correction );
|
||||
|
||||
|
||||
// adjust for week rollover
|
||||
// adjust for week rollover
|
||||
week = gpsweek;
|
||||
tow = gpstow + (*clock_correction)/LIGHTSPEED;
|
||||
if ( tow < 0.0 ) {
|
||||
|
|
@ -728,10 +728,10 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
typedef struct {
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double z;
|
||||
} struct_SOLN;
|
||||
|
||||
struct_SOLN s1;
|
||||
struct_SOLN s1;
|
||||
struct_SOLN s2;
|
||||
|
||||
struct_SOLN stmp;
|
||||
|
|
@ -742,7 +742,7 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
lat2, lon2, alt2;
|
||||
double d2_1, d2_2;
|
||||
|
||||
|
||||
|
||||
x12 = x1 - x2;
|
||||
x13 = x1 - x3;
|
||||
x14 = x1 - x4;
|
||||
|
|
@ -750,7 +750,7 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
y12 = y1 - y2;
|
||||
y13 = y1 - y3;
|
||||
y14 = y1 - y4;
|
||||
|
||||
|
||||
z12 = z1 - z2;
|
||||
z13 = z1 - z3;
|
||||
z14 = z1 - z4;
|
||||
|
|
@ -826,14 +826,14 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
tmp2 = sqrt( s2.x*s2.x + s2.y*s2.y + s2.z*s2.z );
|
||||
|
||||
// choose the correct solution based
|
||||
// on whichever solution is closest to
|
||||
// on whichever solution is closest to
|
||||
// the Earth's surface
|
||||
tmp1 = fabs( tmp1 - 6371000.0 );
|
||||
tmp2 = fabs( tmp2 - 6371000.0 );
|
||||
|
||||
// nur (tmp2 < tmp1) geht manchmal schief
|
||||
if ( tmp2 < tmp1 && tmp1 >= 60000 ) { // swap solutions
|
||||
stmp = s1; s1 = s2; s2 = stmp; // s1 = s2;
|
||||
stmp = s1; s1 = s2; s2 = stmp; // s1 = s2;
|
||||
dtmp = d1; d1 = d2; d2 = dtmp; // d1 = d2;
|
||||
}
|
||||
else if ( tmp2 < 60000 ) { // interessant wenn tmp1<tmp2<60k oder tmp2<tmp1<60k,
|
||||
|
|
@ -841,7 +841,7 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
y0 = (y1+y2+y3+y4)/4.0; // ungefaehre Position kann aus den Positionen
|
||||
z0 = (z1+z2+z3+z4)/4.0; // der empfangenen Sats abgeleitet werden
|
||||
ecef2elli( x0, y0, z0, &latS, &lonS, &altS );
|
||||
|
||||
|
||||
ecef2elli( s1.x, s1.y, s1.z, &lat1, &lon1, &alt1 );
|
||||
ecef2elli( s2.x, s2.y, s2.z, &lat2, &lon2, &alt2 );
|
||||
|
||||
|
|
@ -849,7 +849,7 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
d2_2 = sqrt( (latS-lat2)*(latS-lat2) + (lonS-lon2)*(lonS-lon2) );
|
||||
|
||||
if ( d2_2 < d2_1 ) {
|
||||
stmp = s1; s1 = s2; s2 = stmp; // s1 = s2;
|
||||
stmp = s1; s1 = s2; s2 = stmp; // s1 = s2;
|
||||
dtmp = d1; d1 = d2; d2 = dtmp; // d1 = d2;
|
||||
}
|
||||
}
|
||||
|
|
@ -869,7 +869,7 @@ int NAV_ClosedFormSolution_FromPseudorange(
|
|||
if( *height < -1500.0 || *height > 50000.0 ) {
|
||||
return -2;
|
||||
}
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -922,7 +922,7 @@ int trace_invert(double mat[4][4], double trinv[4]) // trace-invert
|
|||
static double det;
|
||||
det = mat[0][0] * Det3_123_123
|
||||
- mat[0][1] * Det3_123_023
|
||||
+ mat[0][2] * Det3_123_013
|
||||
+ mat[0][2] * Det3_123_013
|
||||
- mat[0][3] * Det3_123_012;
|
||||
|
||||
// Very small determinants probably reflect floating-point fuzz near zero
|
||||
|
|
@ -1049,7 +1049,7 @@ int matrix_invert(double mat[4][4], double inv[4][4])
|
|||
static double det;
|
||||
det = mat[0][0] * Det3_123_123
|
||||
- mat[0][1] * Det3_123_023
|
||||
+ mat[0][2] * Det3_123_013
|
||||
+ mat[0][2] * Det3_123_013
|
||||
- mat[0][3] * Det3_123_012;
|
||||
|
||||
// Very small determinants probably reflect floating-point fuzz near zero
|
||||
|
|
@ -1400,13 +1400,13 @@ int NAV_bancroft3(int N, SAT_t sats[], double pos_ecef1[3], double *cc1 , double
|
|||
|
||||
void GPS_SatelliteClockDriftCorrection(
|
||||
const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks]
|
||||
const double toe, // ephemeris: time of week [s]
|
||||
const double toc, // ephemeris: clock reference time of week [s]
|
||||
const double af0, // ephemeris: polynomial clock correction coefficient [s],
|
||||
const double af1, // ephemeris: polynomial clock correction coefficient [s/s],
|
||||
const double af2, // ephemeris: polynomial clock correction coefficient [s/s^2]
|
||||
const double af2, // ephemeris: polynomial clock correction coefficient [s/s^2]
|
||||
const double ecc, // ephemeris: eccentricity of satellite orbit []
|
||||
const double sqrta, // ephemeris: square root of the semi-major axis of orbit [m^(1/2)]
|
||||
const double delta_n, // ephemeris: mean motion difference from computed value [rad]
|
||||
|
|
@ -1414,10 +1414,10 @@ void GPS_SatelliteClockDriftCorrection(
|
|||
const double tgd, // ephemeris: group delay differential between L1 and L2 [s]
|
||||
double* clock_correction, // ephemeris: satellite clock correction [m]
|
||||
double* clock_drift ) // ephemeris: satellite clock drift correction [m/s]
|
||||
{
|
||||
{
|
||||
int j;
|
||||
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tk; // time from ephemeris reference epoch [s]
|
||||
double tc; // time from clock reference epoch [s]
|
||||
double d_tr; // relativistic correction term [s]
|
||||
|
|
@ -1425,9 +1425,9 @@ void GPS_SatelliteClockDriftCorrection(
|
|||
double a; // semi-major axis of orbit [m]
|
||||
double n; // corrected mean motion [rad/s]
|
||||
double M; // mean anomaly, [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
|
||||
// compute the times from the reference epochs
|
||||
// compute the times from the reference epochs
|
||||
tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow;
|
||||
tk = tot - (ephem_week*SECONDS_IN_WEEK + toe);
|
||||
tc = tot - (ephem_week*SECONDS_IN_WEEK + toc);
|
||||
|
|
@ -1436,21 +1436,21 @@ void GPS_SatelliteClockDriftCorrection(
|
|||
a = sqrta*sqrta;
|
||||
n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // mean motion
|
||||
n += delta_n; // corrected mean motion
|
||||
|
||||
|
||||
// Kepler-Gleichung M = E - e sin(E)
|
||||
M = m0 + n*tk; // mean anomaly
|
||||
E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1,
|
||||
for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1.
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
} // konvergiert langsam gegen E_0 = f(E_0)
|
||||
|
||||
|
||||
// relativistic correction
|
||||
d_tr = RELATIVISTIC_CLOCK_CORRECTION * ecc * sqrta * sin(E); // [s]
|
||||
d_tr *= LIGHTSPEED;
|
||||
|
||||
// clock correction
|
||||
// clock correction
|
||||
d_tsv = af0 + af1*tc + af2*tc*tc; // [s]
|
||||
|
||||
|
||||
// L1 only
|
||||
d_tsv -= tgd; // [s]
|
||||
|
||||
|
|
@ -1462,9 +1462,9 @@ void GPS_SatelliteClockDriftCorrection(
|
|||
|
||||
}
|
||||
|
||||
void GPS_ComputeSatellitePositionVelocity(
|
||||
void GPS_ComputeSatellitePositionVelocity(
|
||||
const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const double transmission_gpstow, // GPS time of week when signal was transmit [s]
|
||||
const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks]
|
||||
const double toe, // ephemeris: time of week [s]
|
||||
const double m0, // ephemeris: mean anomaly at reference time [rad]
|
||||
|
|
@ -1484,19 +1484,19 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
const double cis, // ephemeris: sin harmonic correction term to the angle of inclination [rad]
|
||||
double* x, // satellite x [m]
|
||||
double* y, // satellite y [m]
|
||||
double* z, // satellite z [m]
|
||||
double* z, // satellite z [m]
|
||||
double* vx, // satellite velocity x [m/s]
|
||||
double* vy, // satellite velocity y [m/s]
|
||||
double* vz ) // satellite velocity z [m/s]
|
||||
{
|
||||
int j;
|
||||
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tot; // time of transmission (including gps week) [s]
|
||||
double tk; // time from ephemeris reference epoch [s]
|
||||
double a; // semi-major axis of orbit [m]
|
||||
double n; // corrected mean motion [rad/s]
|
||||
double M; // mean anomaly, [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
double E; // eccentric anomaly [rad]
|
||||
double v; // true anomaly [rad]
|
||||
double u; // argument of latitude, corrected [rad]
|
||||
double r; // radius in the orbital plane [m]
|
||||
|
|
@ -1517,33 +1517,33 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
double sini; // sin(i)
|
||||
double cosE; // cos(E)
|
||||
double sinE; // sin(E)
|
||||
|
||||
|
||||
// compute the times from the reference epochs
|
||||
|
||||
// compute the times from the reference epochs
|
||||
tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow;
|
||||
tk = tot - (ephem_week*SECONDS_IN_WEEK + toe);
|
||||
|
||||
|
||||
// compute the corrected mean motion term
|
||||
a = sqrta*sqrta;
|
||||
n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // computed mean motion
|
||||
n += delta_n; // corrected mean motion
|
||||
|
||||
|
||||
// Kepler-Gleichung M = E - e sin(E)
|
||||
M = m0 + n*tk; // mean anomaly
|
||||
E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1,
|
||||
for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1.
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k)
|
||||
} // konvergiert langsam gegen E_0 = f(E_0)
|
||||
|
||||
cosE = cos(E);
|
||||
sinE = sin(E);
|
||||
|
||||
|
||||
// true anomaly
|
||||
v = atan2( (sqrt(1.0 - ecc*ecc)*sinE), (cosE - ecc) );
|
||||
// argument of latitude
|
||||
u = v + w;
|
||||
// radius in orbital plane
|
||||
r = a * (1.0 - ecc * cos(E));
|
||||
r = a * (1.0 - ecc * cos(E));
|
||||
// orbital inclination
|
||||
i = i0;
|
||||
|
||||
|
|
@ -1551,10 +1551,10 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
//
|
||||
cos2u = cos(2.0*u);
|
||||
sin2u = sin(2.0*u);
|
||||
// argument of latitude correction
|
||||
d_u = cuc * cos2u + cus * sin2u;
|
||||
// radius correction
|
||||
d_r = crc * cos2u + crs * sin2u;
|
||||
// argument of latitude correction
|
||||
d_u = cuc * cos2u + cus * sin2u;
|
||||
// radius correction
|
||||
d_r = crc * cos2u + crs * sin2u;
|
||||
// correction to inclination
|
||||
d_i = cic * cos2u + cis * sin2u;
|
||||
|
||||
|
|
@ -1577,7 +1577,7 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
// fuer GPS-Loesung (Sats in ECI) Erdrotation hinzuziehen:
|
||||
// rotZ(EARTH_ROTATION_RATE*0.072), 0.072s*299792458m/s=21585057m
|
||||
|
||||
// compute the WGS84 ECEF coordinates,
|
||||
// compute the WGS84 ECEF coordinates,
|
||||
// vector r with components x & y is now rotated using, R3(-omegak)*R1(-i)
|
||||
cos_omegak = cos(omegak);
|
||||
sin_omegak = sin(omegak);
|
||||
|
|
@ -1591,15 +1591,15 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
|
||||
// Satellite Velocity Computations are below
|
||||
// see Reference
|
||||
// Remodi, B. M (2004). GPS Tool Box: Computing satellite velocities using the broadcast ephemeris.
|
||||
// GPS Solutions. Volume 8(3), 2004. pp. 181-183
|
||||
// Remodi, B. M (2004). GPS Tool Box: Computing satellite velocities using the broadcast ephemeris.
|
||||
// GPS Solutions. Volume 8(3), 2004. pp. 181-183
|
||||
//
|
||||
// example source code was available at [http://www.ngs.noaa.gov/gps-toolbox/bc_velo/bc_velo.c]
|
||||
// example source code was available at [http://www.ngs.noaa.gov/gps-toolbox/bc_velo/bc_velo.c]
|
||||
|
||||
// recomputed the cos and sin of the corrected argument of latitude
|
||||
|
||||
double omegadotk; // corrected rate of right ascension [rad/s]
|
||||
double edot; // edot = n/(1.0 - ecc*cos(E)), [rad/s]
|
||||
double edot; // edot = n/(1.0 - ecc*cos(E)), [rad/s]
|
||||
double vdot; // d/dt of true anomaly [rad/s]
|
||||
double udot; // d/dt of argument of latitude [rad/s]
|
||||
double idotdot; // d/dt of the rate of the inclination angle [rad/s^2]
|
||||
|
|
@ -1611,26 +1611,26 @@ void GPS_ComputeSatellitePositionVelocity(
|
|||
|
||||
cos2u = cos(2.0*u);
|
||||
sin2u = sin(2.0*u);
|
||||
|
||||
|
||||
edot = n / (1.0 - ecc*cosE);
|
||||
vdot = sinE*edot*(1.0 + ecc*cos(v)) / ( sin(v)*(1.0-ecc*cosE) );
|
||||
vdot = sinE*edot*(1.0 + ecc*cos(v)) / ( sin(v)*(1.0-ecc*cosE) );
|
||||
udot = vdot + 2.0*(cus*cos2u - cuc*sin2u)*vdot;
|
||||
rdot = a*ecc*sinE*n/(1.0-ecc*cosE) + 2.0*(crs*cos2u - crc*sin2u)*vdot;
|
||||
idotdot = idot + (cis*cos2u - cic*sin2u)*2.0*vdot;
|
||||
|
||||
idotdot = idot + (cis*cos2u - cic*sin2u)*2.0*vdot;
|
||||
|
||||
vx_op = rdot*cosu - y_op*udot;
|
||||
vy_op = rdot*sinu + x_op*udot;
|
||||
|
||||
// corrected rate of right ascension including similarily as above,
|
||||
// for omegak, compensation for the Sagnac effect
|
||||
omegadotk = omegadot - EARTH_ROTATION_RATE /* - EARTH_ROTATION_RATE*RANGERATE_ESTIMATE/LIGHTSPEED */ ;
|
||||
|
||||
tmpa = vx_op - y_op*cosi*omegadotk;
|
||||
|
||||
tmpa = vx_op - y_op*cosi*omegadotk;
|
||||
tmpb = x_op*omegadotk + vy_op*cosi - y_op*sini*idotdot;
|
||||
|
||||
*vx = tmpa * cos_omegak - tmpb * sin_omegak;
|
||||
*vy = tmpa * sin_omegak + tmpb * cos_omegak;
|
||||
*vz = vy_op*sini + y_op*cosi*idotdot;
|
||||
|
||||
*vx = tmpa * cos_omegak - tmpb * sin_omegak;
|
||||
*vy = tmpa * sin_omegak + tmpb * cos_omegak;
|
||||
*vz = vy_op*sini + y_op*cosi*idotdot;
|
||||
}
|
||||
|
||||
void GPS_SatellitePositionVelocity_Ephem(
|
||||
|
|
@ -1665,7 +1665,7 @@ void GPS_SatellitePositionVelocity_Ephem(
|
|||
ephem.delta_n, ephem.M0, ephem.tgd, clock_correction, clock_drift );
|
||||
|
||||
|
||||
// adjust for week rollover
|
||||
// adjust for week rollover
|
||||
week = gpsweek;
|
||||
tow = gpstow + (*clock_correction)/LIGHTSPEED;
|
||||
if ( tow < 0.0 ) {
|
||||
|
|
@ -1774,7 +1774,7 @@ int NAV_LinP(int N, SAT_t satv[], double pos_ecef[3], double dt,
|
|||
|
||||
|
||||
for (i = 0; i < N; i++) {
|
||||
obs_range = satv[i].pseudorange + satv[i].clock_corr; //satv[i].PR;
|
||||
obs_range = satv[i].pseudorange + satv[i].clock_corr; //satv[i].PR;
|
||||
prox_range = norm[i] - dt;
|
||||
a[i] = prox_range - obs_range;
|
||||
}
|
||||
|
|
@ -1789,7 +1789,7 @@ int NAV_LinP(int N, SAT_t satv[], double pos_ecef[3], double dt,
|
|||
dpos_ecef[0] = Ba[0];
|
||||
dpos_ecef[1] = Ba[1];
|
||||
dpos_ecef[2] = Ba[2];
|
||||
|
||||
|
||||
*cc = Ba[3];
|
||||
|
||||
return 0;
|
||||
|
|
@ -1884,7 +1884,7 @@ int NAV_LinV(int N, SAT_t satv[], double pos_ecef[3],
|
|||
dvel_ecef[0] = Ba[0];
|
||||
dvel_ecef[1] = Ba[1];
|
||||
dvel_ecef[2] = Ba[2];
|
||||
|
||||
|
||||
*cc = Ba[3];
|
||||
|
||||
return 0;
|
||||
|
|
|
|||
|
|
@ -742,7 +742,7 @@ int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) {
|
|||
double cl_corr, cl_drift;
|
||||
|
||||
for (j = 1; j < 33; j++) {
|
||||
if (alm[j].prn > 0) { // prn==j
|
||||
if (alm[j].prn > 0 && alm[j].health == 0) { // prn==j
|
||||
|
||||
// Woche hat 604800 sec
|
||||
if (t-alm[j].toa > WEEKSEC/2) rollover = +1;
|
||||
|
|
@ -853,7 +853,7 @@ int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
|
|||
|
||||
while (eph[count].prn > 0) {
|
||||
|
||||
if (eph[count].prn == j) {
|
||||
if (eph[count].prn == j && eph[count].health == 0) {
|
||||
|
||||
satfound += 1;
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue