/// <summary>
/// 构造函数
/// </summary>
/// <param name="startTime"></param>
/// <param name="siteName"></param>
/// <param name="OutpuDirectory"></param>
public RealTimeGnssPositioner(GnssSolverType GnssSolverType, String OutpuDirectory, string siteName, Time startTime)
{
this.GnssSolverType = GnssSolverType;
this.OutpuDirectory = OutpuDirectory;
lock (locker)
{
if (NavFile == null)
{
NavFile = new ParamNavFile();
}
}
this.ObsFile = new RinexObsFile();
SSRSp3Section = new InstantSp3Section();
Sp3File = new Sp3File();
this.ObsFile.Header = new Data.Rinex.RinexObsFileHeader()
{
MarkerName = siteName,
StartTime = startTime,
ObsCodes = new Dictionary <SatelliteType, List <string> >(),
};
this.ObsFile.Header.ObsCodes[SatelliteType.G] = new List <string>()
{
"C1X", "L1X", "C2X", "L2X"
};
}
private void button_read_Click(object sender, EventArgs e)
{
entities = new List <SP3ViewEntity>();
string path = this.textBox_Path.Text;
Sp3Reader r = new Sp3Reader(path);
sp3 = r.ReadAll();
this.textBox_headInfo.Text = sp3.Header.ToString();
List <SatelliteNumber> Prns = new List <SatelliteNumber>();
foreach (Sp3Section sec in sp3)
{
foreach (var rec in sec)
{
if (!Prns.Contains(rec.Prn))
{
Prns.Add(rec.Prn);
}
SP3ViewEntity ent = new SP3ViewEntity();
ent.Time = sec.Time;
ent.PRN = rec.Prn;
ent.X = rec.XYZ.X;
ent.Y = rec.XYZ.Y;
ent.Z = rec.XYZ.Z;
GeoCoord coord = CoordTransformer.XyzToGeoCoord(rec.XYZ);
ent.Lon = coord.Lon;
ent.Lat = coord.Lat;
ent.Height = coord.Height;
if (rec.XyzDot != null)
{
ent.Xdot = rec.XyzDot.X;
ent.Ydot = rec.XyzDot.Y;
ent.Zdot = rec.XyzDot.Z;
}
ent.ClockRate = rec.ClockDrift;
ent.Clock = rec.ClockBias;
entities.Add(ent);
}
}
this.bindingSource_prns.DataSource = Prns;
this.bindingSource1.DataSource = entities;
////设置时间间隔
this.dateTimePicker_from.Value = entities[0].Time.DateTime;
this.dateTimePicker_to.Value = entities[entities.Count - 1].Time.DateTime;
}
/// <summary>
/// 输出sp3文件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void button_export_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
string[] pathes = this.textBox_Pathes.Lines;
foreach (var sp3item in pathes)
{
Sp3Reader r = new Sp3Reader(sp3item);
sp3 = r.ReadAll();
string PredictedClockBiasPath = this.textBox_predictedresultPath.ToString();
ClockBias = new Dictionary <Time, Clockbias>();
GetPredictedClockBias(PredictedClockBiasPath);
sp3ofPredicted = new Sp3File();
sp3ofPredicted.Header = sp3.Header;
foreach (Sp3Section sec in sp3)
{
Sp3Section s = new Sp3Section();
Clockbias section = ClockBias[sec.Time];
foreach (Ephemeris rec in sec)
{
s.Time = rec.Time;
if (section.sat.ContainsKey(rec.Prn) && section.sat[rec.Prn] != null)
{
rec.ClockBias = section.sat[rec.Prn];
}
else
{
rec.ClockBias = 999999.999999;
}
s.Add(rec.Prn, rec);
}
sp3ofPredicted.Add(s);
}
sp3ofPredicted.Header.Comments.Add("Processd by Gnsser");
sp3ofPredicted.Header.Comments.Add("Predicted clock bias replace original precise data");
var path = Path.Combine(directory, "P" + r.Name + ".sp3");
Sp3Writer Sp3Writer = new Sp3Writer(path, sp3ofPredicted);
sp3.Clear();
}
Geo.Utils.FileUtil.OpenDirectory(directory);
}
/// <summary>
/// 实时星历改正。
/// </summary>
/// <param name="obs"></param>
/// <param name="maxCorrectionSecond">允许的最大改正秒数，是否该每颗卫星单独考虑</param>
protected void RTSp3InfoCorrected(RinexEpochObservation obs, double maxCorrectionSecond = 60)//Time time, SatelliteType satType)
{
Time time = obs.ReceiverTime;
if (SSRSp3Section.Count == 0)
{
return;
}
if (time - SSRSp3Section.GetMaxTime() > maxCorrectionSecond)
{
return;
}
Sp3Section Sp3Section = new Sp3Section();
var keys = SSRSp3Section.Keys;
foreach (var key in keys)
{
var obj = SSRSp3Section[key];
foreach (var item in obj)
{
if (!NavFile.Prns.Contains(item.Prn))
{
continue;
}
var ss = new SingleParamNavFileEphService(NavFile);
var unkown = NavFile.GetEphemerisParams(item.Prn).Find(b => Math.Abs(b.Time.TickTime.TotalSeconds - time.TickTime.TotalSeconds) < 3 * 3600);
if (unkown == null)
{
continue;
}
if (ss == null)
{
continue;
}
Ephemeris ss1 = ss.Get(item.Prn, time);
XYZ eA = ss1.XyzDot / ss1.XyzDot.Length;
XYZ eC = ss1.XYZ.Cross(ss1.XyzDot) / (ss1.XYZ.Cross(ss1.XyzDot)).Length;
XYZ eR = eA.Cross(eC) / (eA.Cross(eC)).Length;
XYZ deltaO = item.XYZ + item.XyzDot * (time.TickTime.TotalSeconds - item.Time.TickTime.TotalSeconds);
double x = eR.X * deltaO.X + eA.X * deltaO.Y + eC.X * deltaO.Z;
double y = eR.Y * deltaO.X + eA.Y * deltaO.Y + eC.Y * deltaO.Z;
double z = eR.Z * deltaO.X + eA.Z * deltaO.Y + eC.Z * deltaO.Z;
if (x * x + y * y + z * z > 100)
{
}
Ephemeris Sp3Record = new Ephemeris();
Sp3Record.Prn = item.Prn;
Sp3Record.XYZ = ss1.XYZ - new XYZ(x, y, z);
Sp3Record.Time = time;
if (item.Prn.SatelliteType == SatelliteType.R)
{
Sp3Record.ClockBias = ss1.ClockBias + item.ClockBias;
}
else
{
double relativetime = 2 * ss1.XYZ.Dot(ss1.XyzDot) / (GnssConst.LIGHT_SPEED * GnssConst.LIGHT_SPEED);
Sp3Record.ClockBias = ss1.ClockBias - ss1.RelativeCorrection - item.ClockBias; //relativetime + key.ClockBias;
}
Sp3Section.Add(Sp3Record.Prn, Sp3Record);
}
}
if (Sp3Section.Count != 0)
{
Sp3Section.Time = time;
Sp3File.Add(Sp3Section);
}
else
{
int a = 0;
}
if (Sp3File.Count > 11)
{
// Sp3File.Header = new Sp3Header();
Sp3File.Header.EpochInterval = 1;
//Sp3File.TimePeriod = new BufferedTimePeriod(Sp3File.First.Time, Sp3File.Last.Time, 60);
if (EphemerisService == null)
{
EphemerisService = new SingleSp3FileEphService(this.Sp3File.GetSatEphemerisCollection(), 10);
}
else
{
((SingleSp3FileEphService)EphemerisService).SetSp3File(Sp3File.GetSatEphemerisCollection());
}
}
if (Sp3File.Count > 20)
{
Sp3File.RemoveFirst();
}
}
private void button_read_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
string[] SSRsp3Pathes = this.textBox_SSRsp3Pathes.Lines;
string[] NavPathes = this.textBox_NavPathes.Lines;
string[] ClockPathes = this.textBox1.Lines;
if (SSRsp3Pathes.Length != NavPathes.Length)
{
return;
}
int fileCount = SSRsp3Pathes.Length;
#region 照时间顺序合并
for (int i = 0; i < fileCount; i++)
{
ErrorSSRsp3 = new Sp3File();
SSRMinusPreciseClockOutput = new ClockFile();
SSRPlusNavOutput = new ClockFile();
Sp3Reader SSRsp3Reader = new Sp3Reader(SSRsp3Pathes[i]);
ParamNavFileReader reader = new ParamNavFileReader(NavPathes[i]);
SSRsp3 = SSRsp3Reader.ReadAll();
ephemeris = new SingleParamNavFileEphService(reader.ReadGnssNavFlie());
#region 读取钟差文件
ClockFileReader ClockReader = new ClockFileReader(ClockPathes[i], false);
ClockFile = ClockReader.ReadAll();
if (ClockFile.ClockCount == 0)
{
return;
}
#endregion
#region 以sp3的格式进行比较，发现比较麻烦
//foreach (Sp3Section sec in SSRsp3)
//{
// Sp3Section ErrorResult = new Sp3Section();
// Time t = sec.Time;
// foreach (Sp3Record rec in sec)
// {
// Sp3Record error = new Sp3Record();
// if (!ephemeris.Prns.Contains(rec.Prn))
// {
// rec.ClockBias = 999999.999999 * 1e6;
// error.Time = rec.Time;
// error.Prn = rec.Prn;
// error.ClockBias = 999999.999999 * 1e6;
// ErrorResult.Add(error.Prn, error);
// continue;
// }
// var key = ephemeris.Get(rec.Prn, t);
// rec.ClockBias = key.ClockBias - key.RelativeTime + rec.ClockBias;
// var clock=ClockFile.GetClockItem(rec.Prn.ToString(), t);
// error.Time = rec.Time;
// error.Prn = rec.Prn;
// error.ClockBias = clock.ClockBias - rec.ClockBias;
// ErrorResult.Add(error.Prn,error);
// }
// ErrorSSRsp3.Add(ErrorResult);
//}
#endregion
#region 以clock文件格式进行比较
List <AtomicClock> ClockFileDataSource = new List <AtomicClock>();
foreach (var item in SSRsp3.Prns)
{
ClockFileDataSource = ClockFile.GetClockItems(item);
List <AtomicClock> ErrorResult = new List <AtomicClock>();
List <AtomicClock> SSRPlusNavResult = new List <AtomicClock>();
foreach (var item1 in ClockFileDataSource)
{
AtomicClock item2 = new AtomicClock();
var clk = SSRsp3.Get(item1.Time);
if (item1.ClockBias == 9999999999.0 || clk == null || !clk.Contains(item1.Prn))
{
if (clk != null)
{
}
item1.ClockBias = 9999999999.0;
item2.Time = item1.Time;
item2.Prn = item1.Prn;
item2.Name = item1.Name;
item2.ClockType = item1.ClockType;
item2.ClockBias = 9999999999.0;
}
//else if (!clk.Contains(item1.Prn))
//{
// item1.ClockBias = 9999999999.0;
// item2.Time = item1.Time;
// item2.Prn = item1.Prn;
// item2.Name = item1.Name;
// item2.ClockType = item1.ClockType;
// item2.ClockBias = 9999999999.0;
//}
else
{
var NavItem = ephemeris.Get(item1.Prn, item1.Time);
item2.Time = item1.Time;
item2.Prn = item1.Prn;
item2.Name = item1.Name;
item2.ClockType = item1.ClockType;
item2.ClockBias = NavItem.ClockBias - NavItem.RelativeCorrection + clk.Data[item1.Prn].ClockBias;
item1.ClockBias = item2.ClockBias - item1.ClockBias;
}
SSRPlusNavResult.Add(item2);
ErrorResult.Add(item1);
}
SSRMinusPreciseClockOutput.Add(item.ToString(), ErrorResult);
SSRPlusNavOutput.Add(item.ToString(), SSRPlusNavResult);
}
#endregion
SSRMinusPreciseClockOutput.Header = ClockFile.Header;
SSRMinusPreciseClockOutput.Header.SourceName = "errorSSR" + ClockFile.Header.SourceName;
SSRMinusPreciseClockOutput.Header.CreationDate = DateTime.Now.ToString();
SSRMinusPreciseClockOutput.Header.CreationAgence = "Gnsser";
SSRMinusPreciseClockOutput.Header.ANALYSIS_CENTER = "Gnsser";
SSRMinusPreciseClockOutput.Header.CreationProgram = "Gnsser";
SSRMinusPreciseClockOutput.Header.TYPES_OF_DATA.Clear();
SSRMinusPreciseClockOutput.Header.TYPES_OF_DATA.Add("AS");
SSRMinusPreciseClockOutput.Header.COUNT_OF_TYPES_OF_DATA = 1;
SSRMinusPreciseClockOutput.Header.ClockSolnStations.Clear();
SSRPlusNavOutput.Header = SSRMinusPreciseClockOutput.Header;
if (!System.IO.Directory.Exists(@"D:\Temp\errorSSR\"))
{
System.IO.Directory.CreateDirectory(@"D:\Temp\errorSSR\");
}
var errorResutlPath = Path.Combine("D:\\Temp\\errorSSR\\", "errorSSR" + ClockFile.Header.SourceName);
ClockFileWriter errorClockFileWriter = new ClockFileWriter(errorResutlPath, SSRMinusPreciseClockOutput);
errorClockFileWriter.SaveToFile();
var SSRPlusNavResutlPath = Path.Combine("D:\\Temp\\errorSSR\\", "SSR+Nav" + ClockFile.Header.SourceName);
ClockFileWriter SSRPlusNavWriter = new ClockFileWriter(SSRPlusNavResutlPath, SSRPlusNavOutput);
SSRPlusNavWriter.SaveToFile();
TableTextManager = new ObjectTableManager();
TableTextManager.OutputDirectory = "D:\\Temp\\errorSSR\\";
var paramTable = TableTextManager.GetOrCreate(SSRMinusPreciseClockOutput.Name + "errorSSRSat");
int count = 1000000000;
SatelliteNumber prnIndex = new SatelliteNumber();
foreach (var item in SSRMinusPreciseClockOutput)
{
int countEx = 0;
foreach (var item1 in item)
{
if (item1.ClockBias == 9999999999.0)
{
countEx++;
}
}
if (countEx < count)
{
count = countEx; prnIndex = item[0].Prn;
}
}
var standard = SSRMinusPreciseClockOutput.GetClockItems(prnIndex);
double DoubleDiffer = 0;
foreach (var item in standard)
{
paramTable.NewRow();
paramTable.AddItem("Epoch", item.Time);
foreach (var item1 in SSRMinusPreciseClockOutput.Names)
{
if (item1 == item.Name.ToString())
{
continue;
}
var ss = SSRMinusPreciseClockOutput.GetClockItem(item1, item.Time);
if (ss == null)
{
continue;
}
if (item.ClockBias == 9999999999.0 || ss.ClockBias == 9999999999.0)
{
DoubleDiffer = 0;
}
else
{
DoubleDiffer = item.ClockBias - ss.ClockBias;
}
paramTable.AddItem(ss.Prn + "-" + item.Prn, DoubleDiffer * 1E9);
}
paramTable.EndRow();
}
TableTextManager.WriteAllToFileAndCloseStream();
int dayOfWeek = SSRsp3.Header.StartTime.GetGpsWeekAndDay();
var path = Path.Combine("D:\\Temp\\errorSSR\\", "RT" + SSRsp3.Name);//+ dayOfWeek.ToString() + ".sp3");
Sp3Writer Sp3Writer = new Sp3Writer(path, SSRsp3);
Sp3Writer.SaveToFile();
SSRsp3.Clear();
//var errorPath = Path.Combine("D:\\Temp\\errorSSR\\", "error" + SSRsp3Pathes[i].Substring(0, 5) + "RT" + dayOfWeek.ToString() + ".sp3");
//Sp3Writer errorSp3Writer = new Sp3Writer(path, ErrorSSRsp3);
//errorSp3Writer.SaveToFile();
//ErrorSSRsp3.Clear();
}
#endregion
Geo.Utils.FileUtil.OpenDirectory("D:\\Temp\\errorSSR\\");
}
private void button_export_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
int intervalSec = (int)(double.Parse(textBox_interval.Text) * 60);
var ModelLength = (int)(24 * double.Parse(textBox_ModelLength.Text)) * 3600 / intervalSec;
var PredictedLength = (int)(24 * double.Parse(textBox_PredictedLength.Text)) * 3600 / intervalSec;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
var PredictedNumber = int.Parse(textBox_PredictedNumber.Text);
string[] pathes = this.textBox_Pathes.Lines;
EphemerisDataSourceFactory fac = new EphemerisDataSourceFactory();
coll = new SequentialFileEphemerisService(fac, pathes);
int allSec = (int)coll.TimePeriod.Span;
Time end = coll.TimePeriod.End + intervalSec;
List <SatelliteNumber> prns = new List <SatelliteNumber> ();
if (this.IsSelectedPrn.Checked)
{
prns = SatelliteNumber.ParsePRNsBySplliter(textBox_satPrns.Text, new char[] { ',' });
}
else
{
prns = coll.Prns;
}
List <double> list = new List <double>();
Dictionary <string, SSE> ListOfSSE = new Dictionary <string, SSE>();
string approach = null;
#region 逐个卫星进行钟差预报
for (int number = 0; number < PredictedNumber; number++)
{
sp3ofPredicted = new Sp3File();
foreach (var prn in prns)
{
int GlideEpochNumber = int.Parse(this.textBox1_GlideEpochNumber.Text);//滑动历元历元数
ArrayMatrix OringalClock = new ArrayMatrix(ModelLength, 1);
ArrayMatrix CompareClock = new ArrayMatrix(PredictedLength, 1);
#region 获取建模，比较数据等
Time StartOfModel = coll.TimePeriod.Start + number * GlideEpochNumber * intervalSec;
Time EndOfModel = StartOfModel + (ModelLength - 1) * intervalSec;
Time StartOfPredicted = EndOfModel + intervalSec;
Time EndOfPredicted = StartOfPredicted + (PredictedLength - 1) * intervalSec;
var OriginalClockData = coll.Gets(prn, StartOfModel, EndOfModel);
var PredictedClockData = coll.Gets(prn, StartOfPredicted, EndOfPredicted);
int ModelDataNumberIndex = 0;
int PredictedDataNumberIndex = 0;
bool IsNeedFilling = false;
for (Time i = StartOfModel; i <= EndOfModel; i = i + intervalSec)
{
var findofmodel = OriginalClockData.SingleOrDefault(m => m.Time == i);
if (findofmodel == null)
{
if (!fillWithZero)
{
continue;
}
IsNeedFilling = true;
findofmodel = new Ephemeris()
{
Time = i, Prn = prn
};
}
OringalClock[ModelDataNumberIndex, 0] = findofmodel.ClockBias;
ModelDataNumberIndex++;
}
if (IsNeedFilling)
{
QuadraticPolynomialModel Filling = new QuadraticPolynomialModel();
Filling.FillingCalculate(OringalClock, intervalSec);
}
for (Time i = StartOfPredicted; i <= EndOfPredicted; i = i + intervalSec)
{
var findofpredicted = PredictedClockData.SingleOrDefault(m => m.Time == i);
if (findofpredicted == null)
{
if (!fillWithZero)
{
continue;
}
findofpredicted = new Ephemeris()
{
Time = i, Prn = prn
};
}
CompareClock[PredictedDataNumberIndex, 0] = findofpredicted.ClockBias;
PredictedDataNumberIndex++;
}
#endregion
ArrayMatrix Data = null;
if (radioButton_QP.Checked)
{
approach = "QP"; QuadraticPolynomialModel QuadraticPolynomialModel = new QuadraticPolynomialModel(); QuadraticPolynomialModel.Calculate(OringalClock, CompareClock, intervalSec); Data = QuadraticPolynomialModel.PredictedData;
}
if (radioButton_QPT1.Checked)
{
approach = "QPT1"; QuadraticPolynomialT1 QuadraticPolynomialT1 = new QuadraticPolynomialT1(); QuadraticPolynomialT1.Calculate(OringalClock, CompareClock, intervalSec); list.Add(QuadraticPolynomialT1.PredictedRms); Data = QuadraticPolynomialT1.PredictedData;
}
if (radioButton_QPT2.Checked)
{
approach = "QPT2"; QuadraticPolynomialT2 QuadraticPolynomialT2 = new QuadraticPolynomialT2(); QuadraticPolynomialT2.Calculate(OringalClock, CompareClock, intervalSec, prn); list.Add(QuadraticPolynomialT2.PredictedRms); Data = QuadraticPolynomialT2.PredictedData;
}
if (radioButton_QPT3.Checked)
{
approach = "QPT3"; QuadraticPolynomialT3 QuadraticPolynomialT3 = new QuadraticPolynomialT3(); QuadraticPolynomialT3.Calculate(OringalClock, CompareClock, intervalSec); list.Add(QuadraticPolynomialT3.PredictedRms); Data = QuadraticPolynomialT3.PredictedData;
}
if (radioButton_QPT4.Checked)
{
approach = "QPT4"; QuadraticPolynomialT4 QuadraticPolynomialT4 = new QuadraticPolynomialT4(); QuadraticPolynomialT4.Calculate(OringalClock, CompareClock, intervalSec); list.Add(QuadraticPolynomialT4.PredictedRms); Data = QuadraticPolynomialT4.PredictedData;
}
if (radioButton_QPGM.Checked)
{
approach = "QPGM"; QuadraticPolynomialGM QuadraticPolynomialGM = new QuadraticPolynomialGM(); QuadraticPolynomialGM.Calculate(OringalClock, CompareClock, intervalSec); list.Add(QuadraticPolynomialGM.PredictedRms); Data = QuadraticPolynomialGM.PredictedData;
}
if (radioButton_QPT2GM.Checked)
{
approach = "QPT2GM"; QuadraticPolynomialT2GM QuadraticPolynomialT2GM = new QuadraticPolynomialT2GM(); QuadraticPolynomialT2GM.Calculate(OringalClock, CompareClock, intervalSec, prn); list.Add(QuadraticPolynomialT2GM.PredictedRms); Data = QuadraticPolynomialT2GM.PredictedData;
}
if (radioButton_QPT4GM.Checked)
{
approach = "QPT4GM"; QuadraticPolynomialT4GM QuadraticPolynomialT4GM = new QuadraticPolynomialT4GM(); QuadraticPolynomialT4GM.Calculate(OringalClock, CompareClock, intervalSec); list.Add(QuadraticPolynomialT4GM.PredictedRms); Data = QuadraticPolynomialT4GM.PredictedData;
}
if (radioButton_LP.Checked)
{
approach = "LP"; LinearPolynomialModel LinearPolynomialModel = new LinearPolynomialModel(); LinearPolynomialModel.Calculate(OringalClock, CompareClock, intervalSec); list.Add(LinearPolynomialModel.PredictedRms); Data = LinearPolynomialModel.PredictedData;
}
if (radioButton_DLP.Checked)
{
approach = "DLP"; DLinearPolynomialModel DLinearPolynomialModel = new DLinearPolynomialModel(); DLinearPolynomialModel.Calculate(OringalClock, CompareClock, intervalSec); list.Add(DLinearPolynomialModel.PredictedRms); Data = DLinearPolynomialModel.PredictedData;
}
if (radioButton_RobustDLP.Checked)
{
approach = "RobustDLP";
RobustDLinearPolynomial RobustDLinearPolynomial = new RobustDLinearPolynomial();
RobustDLinearPolynomial.Calculate(OringalClock, CompareClock, intervalSec);
list.Add(RobustDLinearPolynomial.PredictedRms);
Data = RobustDLinearPolynomial.PredictedData;
SSE a = new SSE();
a = GetSSE(RobustDLinearPolynomial);
ListOfSSE.Add(prn.ToString() + '-' + number, a);
}
if (radioButton_RobustLP.Checked)
{
approach = "RobustLP"; RobustLinearPolynomial RobustLinearPolynomial = new RobustLinearPolynomial(); RobustLinearPolynomial.Calculate(OringalClock, CompareClock, intervalSec); list.Add(RobustLinearPolynomial.PredictedRms); Data = RobustLinearPolynomial.PredictedData;
}
if (radioButton_GM.Checked)
{
approach = "GM";
ArrayMatrix GMOringalClock1 = new ArrayMatrix(8, 1);
for (int GMIndex = 0; GMIndex < 8; GMIndex++)
{
GMOringalClock1[GMIndex, 0] = OringalClock[ModelLength - (8 - GMIndex), 0];
}
GreyModel GreyModel1 = new GreyModel();
SSE a = new SSE();
GreyModel1.Calculate(GMOringalClock1, CompareClock, intervalSec);
a = GetSSE(GreyModel1);
ListOfSSE.Add(prn.ToString() + '-' + number, a);
Data = GreyModel1.PredictedData;
}
if (radioButton_KFAllan.Checked)
{
approach = "KFAllan"; KalmanAllan KalmanAllan = new KalmanAllan(); KalmanAllan.Calculate(OringalClock, CompareClock, intervalSec); list.Add(KalmanAllan.PredictedRms); Data = KalmanAllan.PredictedData;
}
if (radioButton_KFHardamard.Checked)
{
approach = "KFHardamard"; KalmanHardamard KalmanHardamard = new KalmanHardamard(); KalmanHardamard.Calculate(OringalClock, CompareClock, intervalSec); list.Add(KalmanHardamard.PredictedRms); Data = KalmanHardamard.PredictedData;
}
if (radioButton_KFReHardamard.Checked)
{
approach = "KFReHardamard"; KalmanRecursionHardamard KalmanRecursionHardamard = new KalmanRecursionHardamard(); KalmanRecursionHardamard.Calculate(OringalClock, CompareClock, intervalSec); list.Add(KalmanRecursionHardamard.PredictedRms); Data = KalmanRecursionHardamard.PredictedData;
}
if (radioButton_KFReAllan.Checked)
{
approach = "KFReAllan"; KalmanRecursionAllan KalmanRecursionAllan = new KalmanRecursionAllan(); KalmanRecursionAllan.Calculate(OringalClock, CompareClock, intervalSec); list.Add(KalmanRecursionAllan.PredictedRms); Data = KalmanRecursionAllan.PredictedData;
}
for (int i0 = 0; i0 < Data.RowCount; i0++)
{
var sat = new Ephemeris();
sat.Prn = prn;
sat.Time = StartOfPredicted + i0 * intervalSec;
sat.ClockBias = Data[i0, 0];
if (!(sp3ofPredicted.Contains(sat.Time)))
{
sp3ofPredicted.Add(sat.Time, new Sp3Section());
}
sp3ofPredicted[sat.Time].Add(sat.Prn, sat);
}
sp3ofPredicted.Prns.Add(prn);
}
OutputOfPredictedClock(directory, approach, number);
}
#endregion
OutputOfSSE(directory, ListOfSSE, approach);
Geo.Utils.FileUtil.OpenDirectory(directory);
}
private void button_read_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
string[] pathes = this.textBox_Pathes.Lines;
int dayOfweekO = 0;
//sp3Observation = new Sp3File();
TableTextManager = new ObjectTableManager();
TableTextManager.OutputDirectory = directory;
var SatEpochCountTable = TableTextManager.GetOrCreate("GNSSerSatEpochCount" + Path.GetFileNameWithoutExtension(pathes[0]).Substring(0, 12));
#region 照时间顺序合并
Time start = Time.MinValue;
foreach (var pathItem in pathes)
{
Sp3Reader r = new Sp3Reader(pathItem);
sp3 = r.ReadAll();
var intervalSec = sp3.Header.EpochInterval;
foreach (Sp3Section sec in sp3)
{
Sp3Section s = new Sp3Section();
foreach (var rec in sec)
{
if (rec.Prn.SatelliteType == SatelliteType.R)
{
rec.Time = rec.Time + 1;
}
s.Time = rec.Time; s.Add(rec.Prn, rec);
}
if (sp3Observation == null || sp3Observation.Count == 0)
{
sp3Observation = new Sp3File();
sp3Observation.Header = sp3.Header;
sp3Observation.Header.StartTime = s.Time;
sp3Observation.Header.Comments.Add("Processd by Gnsser");
sp3Observation.Header.Comments.Add("Collected from real time SSR clock correction");
dayOfweekO = sp3Observation.Header.StartTime.GetGpsWeekAndDay();
}
if (((s.Time.Hour == 0 && s.Time.Minute == 0 && s.Time.Second == 0) || start.GetGpsWeekAndDay() != s.Time.GetGpsWeekAndDay()) && sp3Observation.Count != 0)
{
var pathObservation = Path.Combine(directory, "Gnsser" + sp3.Name.Substring(0, 12) + dayOfweekO.ToString() + ".sp3");
sp3Observation.Header.NumberOfEpochs = sp3Observation.Count;
Sp3Writer Sp3WriterObservation = new Sp3Writer(pathObservation, sp3Observation);
Sp3WriterObservation.SaveToFile();
SatEpochCountTable.NewRow();
SatEpochCountTable.AddItem("Day", dayOfweekO);
sp3Observation.CheckOrBuildIndexCollection();
foreach (var item in sp3Observation.SatEphemerisCollection.Keys)
{
int a = sp3Observation.SatEphemerisCollection[item].Count;
SatEpochCountTable.AddItem(item, a);
}
SatEpochCountTable.EndRow();
sp3Observation.Clear();
sp3Observation.SatEphemerisCollection.Clear();
sp3Observation.Header.StartTime = s.Time;
//sp3Observation.Header.Comments.Add("Processd by Gnsser");
//sp3Observation.Header.Comments.Add("Collected from real time SSR clock correction");
dayOfweekO = sp3Observation.Header.StartTime.GetGpsWeekAndDay();
start = s.Time;
}
if (!sp3Observation.Contains(s.Time))
{
sp3Observation.Add(s);
}
}
}
TableTextManager.WriteAllToFileAndCloseStream();
if (sp3Observation.Count != 0)
{
var pathObservation = Path.Combine(directory, "Gnsser" + sp3.Name.Substring(0, 12) + dayOfweekO.ToString() + ".sp3");
sp3Observation.Header.NumberOfEpochs = sp3Observation.Count;
Sp3Writer Sp3WriterObservation = new Sp3Writer(pathObservation, sp3Observation);
Sp3WriterObservation.SaveToFile();
sp3Observation.Clear();
}
#endregion
Geo.Utils.FileUtil.OpenDirectory(directory);
}
private void calculate_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var intervalSec = double.Parse(textBox_interval.Text) * 60;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
string[] SSRsp3Pathes = this.textBox_SSRsp3Pathes.Lines;
string[] NavPathes = this.textBox_NavPathes.Lines;
string[] ClockPathes = this.textBox1.Lines;
if (SSRsp3Pathes.Length != NavPathes.Length)
{
return;
}
int fileCount = SSRsp3Pathes.Length;
if (!System.IO.Directory.Exists(@"D:\Temp\SSR1\"))
{
System.IO.Directory.CreateDirectory(@"D:\Temp\SSR1\");
}
EpochCountTableTextManager = new ObjectTableManager();
EpochCountTableTextManager.OutputDirectory = "D:\\Temp\\SSR1\\";
var SatEpochCountTable = EpochCountTableTextManager.GetOrCreate("BNCSatEpochCount");// + OriginalSSR.Header.Name);
SatEpochCountTable.NewRow();
for (int i = 0; i < fileCount; i++)
{
#region 读取SSR产品
Time start0 = Time.MaxValue;
Time end0 = Time.MinValue;
OriginalSSRSp3 = new Sp3File();
OriginalSSRSp3MinusPreciseClockOutput = new Sp3File();
OriginalSSRSp3PlusNavOutput = new Sp3File();
Sp3Reader r = new Sp3Reader(SSRsp3Pathes[i]);
OriginalSSRSp3 = r.ReadAll();
OriginalSSRSp3.CheckOrBuildIndexCollection();
Dictionary <string, int> SatEpochCount = new Dictionary <string, int>();
foreach (var item in OriginalSSRSp3.Prns)
{
SatEpochCount.Add(item.ToString(), OriginalSSRSp3.SatEphemerisCollection[item].Count);
}
SatEpochCountTable.AddItem("Day", start0.GetGpsWeekAndDay());
foreach (var item in SatEpochCount)
{
SatEpochCountTable.AddItem(item.Key, item.Value);
}
SatEpochCountTable.EndRow();
#endregion
#region 读取广播星历
ParamNavFileReader NavReader = new ParamNavFileReader(NavPathes[i]);
ephemeris = new SingleParamNavFileEphService(NavReader.ReadGnssNavFlie());
#endregion
#region 读取钟差文件
//ClockFileReader reader = new ClockFileReader(ClockPathes[i]);
//ClockFile = reader.ReadAll();
//if (ClockFile.ClockCount == 0) return;
#endregion
OriginalSSRSp3.CheckOrBuildIndexCollection();
for (Time time = OriginalSSRSp3.TimePeriod.Start; time <= OriginalSSRSp3.TimePeriod.End; time += 1)
{
Sp3Section Sp3Section = new Sp3Section();
Sp3Section.Time = time;
foreach (var prn in OriginalSSRSp3.Prns)
{
var ss1 = OriginalSSRSp3.SatEphemerisCollection[prn].Values.FindLast(b => b.Time <= time);
if (!ephemeris.Prns.Contains(prn))
{
continue;
}
var ss = ephemeris.Get(prn, time);
XYZ eA = ss.XyzDot / ss.XyzDot.Length;
XYZ eC = ss.XYZ.Cross(ss.XyzDot) / (ss.XYZ.Cross(ss.XyzDot)).Length;
XYZ eR = eA.Cross(eC) / (eA.Cross(eC)).Length;
XYZ deltaO = ss1.XYZ + ss1.XyzDot * (time.Seconds - ss1.Time.Seconds);
double x = eA.X * deltaO.X + eA.X * deltaO.Y + eC.X * deltaO.Z;
double y = eA.Y * deltaO.X + eA.Y * deltaO.Y + eC.Y * deltaO.Z;
double z = eA.Z * deltaO.X + eA.Z * deltaO.Y + eC.Z * deltaO.Z;
Ephemeris Sp3Record = new Ephemeris();
Sp3Record.Prn = prn;
Sp3Record.XYZ = ss.XYZ - new XYZ(x, y, z);
if (prn.SatelliteType == SatelliteType.R)
{
Sp3Record.ClockBias = ss.ClockBias + ss1.ClockBias;
}
else
{
Sp3Record.ClockBias = ss.ClockBias - ss.RelativeCorrection + ss1.ClockBias;
}
Sp3Section.Add(prn, Sp3Record);
}
OriginalSSRSp3PlusNavOutput.Add(Sp3Section);
}
var resultPath = Path.Combine("D:\\Temp\\SSR1\\", OriginalSSRSp3.Name);
Sp3Writer ClockFileWriter = new Sp3Writer(resultPath, OriginalSSRSp3PlusNavOutput);
ClockFileWriter.SaveToFile();
}
// List<AtomicClock> OriginalSSRDataSource = new List<AtomicClock>();
// List<AtomicClock> ClockFileDataSource = new List<AtomicClock>();
// foreach (var key in OriginalSSRSp3.Prns)
// {
// //OriginalSSRDataSource = OriginalSSR.GetClockItems(key);
// ClockFileDataSource = ClockFile.GetClockItems(key);
// if (ClockFileDataSource == null) continue;
// List<AtomicClock> ErrorResult = new List<AtomicClock>();
// List<AtomicClock> SSRPlusNavResult = new List<AtomicClock>();
// foreach (var item1 in ClockFileDataSource)
// {
// AtomicClock item2 = new AtomicClock();
// var clk = OriginalSSRSp3.GetClockItem(item1.Prn.ToString(),item1.Time);
// if (item1.ClockBias == 9999999999.0 || clk == null)
// {
// item1.ClockBias = 9999999999.0;
// item2.Time = item1.Time;
// item2.Prn = item1.Prn;
// item2.Name = item1.Name;
// item2.ClockType = item1.ClockType;
// item2.ClockBias = 9999999999.0;
// }
// else
// {
// var NavItem = ephemeris.Get(item1.Prn, item1.Time);
// item2.Time = item1.Time;
// item2.Prn = item1.Prn;
// item2.Name = item1.Name;
// item2.ClockType = item1.ClockType;
// item2.ClockBias = NavItem.ClockBias - NavItem.RelativeTime + clk.ClockBias;
// item1.ClockBias = item2.ClockBias - item1.ClockBias;
// }
// SSRPlusNavResult.Add(item2);
// ErrorResult.Add(item1);
// }
// OriginalSSRSp3MinusPreciseClockOutput.Add(key, ErrorResult);
// OriginalSSRSp3PlusNavOutput.Add(key, SSRPlusNavResult);
// }
// double interval = double.Parse(this.textBox_interval.Text);
// ClockEstimationFrom = this.dateTimePicker_from.Value;
// ClockEstimationTo = this.dateTimePicker_to.Value;
// OriginalSSRSp3.Header = new Sp3Header ();
// OriginalSSRSp3.Header.AgencyName="Gnsser";
// OriginalSSRSp3.Header.EndTime=
// .Name = "SSR" + OriginalSSRSp3.Header.Name;
// OriginalSSRSp3.Header.CreationDate = DateTime.Now.ToString();
// OriginalSSRSp3.Header.CreationAgence = "Gnsser";
// OriginalSSRSp3.Header.ANALYSIS_CENTER = "Gnsser";
// OriginalSSRSp3.Header.CreationProgram = "Gnsser";
// OriginalSSRSp3MinusPreciseClockOutput.Header = OriginalSSRSp3.Header;
// OriginalSSRSp3PlusNavOutput.Header = OriginalSSRSp3.Header;
// var resutlPath = Path.Combine("D:\\Temp\\SSR1\\", OriginalSSRSp3.Header.Name);
// var errorResutlPath = Path.Combine("D:\\Temp\\SSR1\\", "error" + OriginalSSRSp3.Header.Name);
// ClockFileWriter ClockFileWriter = new ClockFileWriter(resutlPath, OriginalSSRSp3PlusNavOutput);
// ClockFileWriter.SaveToFile();
// ClockFileWriter errorClockFileWriter = new ClockFileWriter(errorResutlPath, OriginalSSRSp3MinusPreciseClockOutput);
// errorClockFileWriter.SaveToFile();
// TableTextManager = new TableObjectManager();
// TableTextManager.OutputDirectory = "D:\\Temp\\SSR1\\";
// var paramTable = TableTextManager.GetOrCreate(OriginalSSRSp3MinusPreciseClockOutput.Name + "errorSSRSat");
// int count = 0;
// SatelliteNumber prnIndex = new SatelliteNumber();
// foreach (var key in OriginalSSRSp3MinusPreciseClockOutput)
// {
// if (key.Count > count) { count = key.Count; prnIndex = key[0].Prn; }
// }
// var standard = OriginalSSRSp3MinusPreciseClockOutput.GetClockItems(prnIndex);
// double DoubleDiffer = 0;
// foreach (var key in standard)
// {
// paramTable.NewRow();
// paramTable.AddItem("Epoch", key.Time);
// foreach (var item1 in OriginalSSRSp3MinusPreciseClockOutput.Names)
// {
// if (item1 == key.Name.ToString()) continue;
// var ss = OriginalSSRSp3MinusPreciseClockOutput.GetClockItem(item1, key.Time);
// if (ss == null)
// continue;
// if (key.ClockBias == 9999999999.0 || ss.ClockBias == 9999999999.0)
// DoubleDiffer = 0;
// else DoubleDiffer = key.ClockBias - ss.ClockBias;
// paramTable.AddItem(ss.Prn + "-" + key.Prn, DoubleDiffer * 1E9);
// }
// paramTable.EndRow();
// }
// TableTextManager.WriteAllToFileAndCloseStream();
//}
//EpochCountTableTextManager.WriteAllToFileAndCloseStream();
Geo.Utils.FileUtil.OpenDirectory("D:\\Temp\\SSR1\\");
}
private void button_read_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var directory = this.directorySelectionControl1.Path;
string resultDirectory = Path.Combine(directory, "replace clock result");
Geo.Utils.FileUtil.CheckOrCreateDirectory(resultDirectory);
string[] pathes = this.textBox_Pathes.Lines;
string igsSp3Path = this.textBox_IgsSp3Path.Text;
var st1 = int.Parse(pathes[0].Substring(pathes[0].Length - 6, 2));
var st2 = int.Parse(pathes[1].Substring(pathes[0].Length - 6, 2));
#region 照单个文件进行输出，不合并
foreach (var pathItem in pathes)
{
string dayOfWeek = Path.GetFileNameWithoutExtension(pathItem).Substring(5, 5);
string dayOfWeekfileName = Path.GetFileNameWithoutExtension(igsSp3Path).Substring(3, 5);
string path = igsSp3Path.Replace(dayOfWeekfileName, dayOfWeek);
if (!File.Exists(path))
{
//FormUtil.ShowFileNotExistBox(path);
continue;
}
Sp3AllReader iguRead = new Sp3AllReader(pathItem);
iguSp3 = iguRead.ReadAll();
Sp3AllReader igsRead = new Sp3AllReader(path);
igsSp3 = igsRead.ReadAll();
var intervalSec = iguSp3.Header.EpochInterval;
sp3Observation = new Sp3File();
sp3Observation.Header = igsSp3.Header;
foreach (Sp3Section sec in igsSp3)
{
var item = iguSp3.Get(sec.Time);
Sp3Section s = new Sp3Section();
foreach (var rec in sec)
{
s.Time = rec.Time;
if (item != null && item.Contains(rec.Prn))
{
rec.ClockBias = item[rec.Prn].ClockBias;
}
else
{
rec.ClockBias = 0.999999999999;
}
s.Add(rec.Prn, rec);
}
sp3Observation.Add(s);
}
sp3Observation.Header.Comments.Add("Processd by Gnsser");
sp3Observation.Header.Comments.Add("Choose clock of IGU-P for igs");
var pathObservation = Path.Combine(resultDirectory, iguSp3.Name);
if (File.Exists(pathObservation))
{
File.Delete(pathObservation);
}
Sp3Writer Sp3WriterObservation = new Sp3Writer(pathObservation, sp3Observation);
Sp3WriterObservation.SaveToFile();
iguSp3.Clear();
}
#endregion
Geo.Utils.FileUtil.OpenDirectory(resultDirectory);
}
private void button_read_Click(object sender, EventArgs e)
{
bool fillWithZero = checkBox1.Checked;
var directory = this.directorySelectionControl1.Path;
Geo.Utils.FileUtil.CheckOrCreateDirectory(directory);
string[] pathes = this.textBox_Pathes.Lines;
var st1 = int.Parse(pathes[0].Substring(pathes[0].Length - 6, 2));
var st2 = int.Parse(pathes[1].Substring(pathes[0].Length - 6, 2));
#region 照多个文件进行合并输出
if (st2 - st1 != 0)
{
sp3ofPredicted = new Sp3File(); sp3Observation = new Sp3File(); int indexOfFile = 1; int dayOfweekO = 0; int dayOfweekP = 0;
foreach (var pathItem in pathes)
{
Sp3AllReader r = new Sp3AllReader(pathItem);
Sp3AllReader rP = new Sp3AllReader(pathItem);
sp3 = r.ReadAll();
sp3P = rP.ReadAll();
var intervalSec = sp3.Header.EpochInterval;
Time end1 = sp3.TimePeriod.Start + (st2 - st1) * 3600 - intervalSec;
Time end = sp3.TimePeriod.Start + (st2 - st1 + 24) * 3600 - intervalSec;
Time startOfPredicted = sp3.TimePeriod.Start + 24 * 3600 - intervalSec;
foreach (Sp3Section sec in sp3)
{
Sp3Section s = new Sp3Section();
foreach (var rec in sec)
{
s.Time = rec.Time;
s.Add(rec.Prn, rec);
}
if (sec.Time <= end1)
{
sp3Observation.Add(s);
}
else if (sec.Time <= end && sec.Time > startOfPredicted)
{
sp3ofPredicted.Add(s);
}
}
if (indexOfFile % (24 / (st2 - st1)) == 1)
{
sp3Observation.Header = sp3.Header;
sp3ofPredicted.Header = sp3P.Header;
sp3ofPredicted.Header.StartTime = sp3P.Header.StartTime + 24 * 3600;
dayOfweekO = sp3Observation.Header.StartTime.GetGpsWeekAndDay();
if (dayOfweekO % 10 == 6)
{
dayOfweekP = dayOfweekO + 4;
sp3ofPredicted.Header.GPSWeek += 1;
}
else
{
dayOfweekP = dayOfweekO + 1;
}
}
if (indexOfFile % (24 / (st2 - st1)) == 0)
{
sp3Observation.Header.Comments.Add("Processd by Gnsser");
sp3Observation.Header.Comments.Add("Choose IGU-O from igu");
sp3ofPredicted.Header.Comments.Add("Processd by Gnsser");
sp3ofPredicted.Header.Comments.Add("Choose IGU-P from igu");
var pathObservation = Path.Combine(directory, "IGU-O" + dayOfweekO.ToString() + ".sp3");
var pathPredicted = Path.Combine(directory, "IGU-P" + dayOfweekP.ToString() + ".sp3");
sp3Observation.Header.NumberOfEpochs = sp3Observation.Count;
sp3ofPredicted.Header.NumberOfEpochs = sp3ofPredicted.Count;
Sp3Writer Sp3WriterObservation = new Sp3Writer(pathObservation, sp3Observation);
Sp3Writer Sp3WriterPredicted = new Sp3Writer(pathPredicted, sp3ofPredicted);
Sp3WriterObservation.SaveToFile();
Sp3WriterPredicted.SaveToFile();
sp3Observation.Clear();
sp3ofPredicted.Clear();
}
sp3.Clear();
indexOfFile++;
}
}
#endregion
#region 照单个文件进行输出，不合并
else
{
foreach (var pathItem in pathes)
{
Sp3Reader r = new Sp3Reader(pathItem);
sp3 = r.ReadAll();
var intervalSec = sp3.Header.EpochInterval;
sp3Observation = new Sp3File();
sp3Observation.Header = sp3.Header;
sp3ofPredicted = new Sp3File();
sp3ofPredicted.Header = sp3.Header;
Time end1 = sp3.TimePeriod.Start + 24 * 3600 - intervalSec;
Time end = sp3.TimePeriod.End;
foreach (Sp3Section sec in sp3)
{
Sp3Section s = new Sp3Section();
foreach (var rec in sec)
{
s.Time = rec.Time;
s.Add(rec.Prn, rec);
}
if (sec.Time < end1)
{
sp3Observation.Add(s);
}
else
{
sp3ofPredicted.Add(s);
}
}
sp3Observation.Header.Comments.Add("Processd by Gnsser");
sp3Observation.Header.Comments.Add("Choose IGU-O from igu");
sp3ofPredicted.Header.Comments.Add("Processd by Gnsser");
sp3ofPredicted.Header.Comments.Add("Choose IGU-P from igu");
var pathObservation = Path.Combine(directory, "IGU-O-Basedon" + r.Name);
var pathPredicted = Path.Combine(directory, "IGU-P-Basedon" + r.Name);
Sp3Writer Sp3WriterObservation = new Sp3Writer(pathObservation, sp3Observation);
Sp3Writer Sp3WriterPredicted = new Sp3Writer(pathPredicted, sp3ofPredicted);
Sp3WriterObservation.SaveToFile();
Sp3WriterPredicted.SaveToFile();
sp3.Clear();
}
}
#endregion
Geo.Utils.FileUtil.OpenDirectory(directory);
}