/*time to day of year*/
public static double time2doy(rtktime t)
{
double[] ep = new double[6];
time2epoch(t, ep);
ep[1] = ep[2] = 1.0; ep[3] = ep[4] = ep[5] = 0.0;
return(timediff(t, epoch2time(ep)) / 86400.0 + 1.0);
}
public static void time2epoch(rtktime t, double[] ep)
{
int[] mday = /* # of days in a month */
{
31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31,
31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31
};
int days, sec, mon, day;
/* leap year if year%4==0 in 1901-2099 */
days = (int)(t.time_int / 86400);
sec = (int)(t.time_int - (Int64)days * 86400);
for (day = days % 1461, mon = 0; mon < 48; mon++)
{
if (day >= mday[mon])
{
day -= mday[mon];
}
else
{
break;
}
}
ep[0] = 1970 + days / 1461 * 4 + mon / 12; ep[1] = mon % 12 + 1; ep[2] = day + 1;
ep[3] = sec / 3600; ep[4] = sec % 3600 / 60; ep[5] = sec % 60 + t.sec;
}
public static void tidedisp(time tutc, rtktime utc, double[] rr, erp_t erp, double[] disp)
{
time tut = new time();
rtktime ut = new rtktime();
double[] pos = new double[2], E = new double[9], erpv = new double[5], rs = new double[3], rm = new double[3];
double[] gmst = new double[1], drt = new double[3];
double r;
if (erp != null)
{
pppcmn.geterp(tutc, utc, erp, erpv);
}
tut.ut1 = tutc.utc + erpv[2];
ut = rtklibcmn.timeadd(utc, erpv[2]);
r = Math.Sqrt(rr[0] * rr[0] + rr[1] * rr[1] + rr[2] * rr[2]);
if (r <= 0)
{
return;
}
pos[0] = Math.Asin(rr[2] / r);
pos[1] = Math.Atan2(rr[1], rr[0]);
transcoor.mat_xyz2enu(matrix.Array2matrix(pos), E);
pppcmn.sunmoonpos(tutc, utc, erpv, rs, rm, gmst);
pppcmn.tide_solid(rs, rm, pos, E, gmst[0], drt);
for (int i = 0; i < 3; i++)
{
disp[i] += drt[i];
}
}
/* time to day and sec -------------------------------------------------------*/
public static double time2sec(rtktime t, rtktime day)
{
double[] ep = new double[6];
double sec;
time2epoch(t, ep);//转化为 y m d h m s
sec = ep[3] * 3600.0 + ep[4] * 60.0 + ep[5];
ep[3] = ep[4] = ep[5] = 0.0;
day = epoch2time(ep);
return(sec);
}
public static rtktime gpst2time(int week, double sec)
{
rtktime t = epoch2time(gpst0);
if (sec < -1E9 || 1E9 < sec)
{
sec = 0.0;
}
t.time_int += 86400 * 7 * week + (int)sec;
t.sec = sec - (int)sec;
return(t);
}
public static double time2gpst(rtktime t, int[] week)
{
rtktime t0 = epoch2time(gpst0);
Int64 sec = t.time_int - t0.time_int;
int w = (int)(sec / (86400 * 7));
if (week != null)
{
week[0] = w;
}
return((double)(sec - w * 86400 * 7) + t.sec);
}
public static rtktime utc2gpst(rtktime t)
{
int i;
for (i = 0; leaps[i][0] > 0; i++)
{
if (timediff(t, epoch2time(leaps[i])) >= 0.0)
{
return(timeadd(t, -leaps[i][6]));
}
}
return(t);
}
public static rtktime adjweek(rtktime t, rtktime t0)
{
double tt = timediff(t, t0);//返回这两个时间所相差的秒数，t.sec是表示小于1秒的小数（double）,time_t是整形
if (tt < -302400.0)
{
return(timeadd(t, 604800.0));
}
if (tt > 302400.0)
{
return(timeadd(t, -604800.0));
}
return(t);
}
public static rtktime timeadd(rtktime t, double sec)
{
double tt;
rtktime tep = new rtktime();
tep.time_int = t.time_int;
tep.sec = t.sec;
tep.sec += sec;
tt = Math.Floor(tep.sec);
tep.time_int += (int)tt;
tep.sec -= tt;
return(tep);
}
public static rtktime gpst2utc(rtktime t)
{
rtktime tu = new rtktime();
int i;
for (i = 0; leaps[i][0] > 0; i++)
{
tu = timeadd(t, leaps[i][6]);//加上跳秒
if (timediff(tu, epoch2time(leaps[i])) >= 0.0)
{
return(tu);
}
}
return(t);
}
/* utc to gmst -----------------------------------------------------------------
* convert utc to gmst (Greenwich mean sidereal time)
* args : gtime_t t I time expressed in utc
* double ut1_utc I UT1-UTC (s)
* return : gmst (rad)
*-----------------------------------------------------------------------------*/
public static double utc2gmst(rtktime t, double ut1_utc)
{
double[] ep2000 = { 2000, 1, 1, 12, 0, 0 };
rtktime tut = new rtktime(), tut0 = new rtktime();
double ut, t1, t2, t3, gmst0, gmst;
tut = timeadd(t, ut1_utc);//这里的t是UTC表示
ut = time2sec(tut, tut0);
t1 = timediff(tut0, epoch2time(ep2000)) / 86400.0 / 36525.0;
t2 = t1 * t1; t3 = t2 * t1;
gmst0 = 24110.54841 + 8640184.812866 * t1 + 0.093104 * t2 - 6.2E-6 * t3;
gmst = gmst0 + 1.002737909350795 * ut;
return((gmst % 86400.0) * Math.PI / 43200.0); /* 0 <= gmst <= 2*PI fmod函数在c#中可用%代替*/
}
public static void str2time(string line, rtktime t)
{
double[] ep = new double[6];
string[] s = line.Split(new string[] { " " }, StringSplitOptions.RemoveEmptyEntries);
for (int i = 0; i < 6; i++)
{
ep[i] = double.Parse(s[i]);
}
if (ep[0] < 100.0)
{
ep[0] += ep[0] < 80.0 ? 2000.0 : 1900.0;
}
rtktime t1 = epoch2time(ep);
t.time_int = t1.time_int; t.sec = t1.sec;
}
/* convert calendar day/time to time -------------------------------------------
* convert calendar day/time to gtime_t struct
* args : double *ep I day/time {year,month,day,hour,min,sec}
* return : gtime_t struct
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
public static rtktime epoch2time(double[] ep)
{
int[] doy = { 1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335 };
rtktime time = new rtktime();
int days, sec, year = (int)ep[0], mon = (int)ep[1], day = (int)ep[2];
if (year < 1970 || 2099 < year || mon < 1 || 12 < mon)
{
return(time);
}
/* leap year if year%4==0 in 1901-2099 */
days = (year - 1970) * 365 + (year - 1969) / 4 + doy[mon - 1] + day - 2 + (year % 4 == 0 && mon >= 3 ? 1 : 0);
sec = (int)Math.Floor(ep[5]);
time.time_int = (Int64)days * 86400 + (int)ep[3] * 3600 + (int)ep[4] * 60 + sec;
time.sec = ep[5] - sec;
return(time);
}
public static void propos(obs_t obss, dcb_t dcb, pcv_t pcv, station sta, nav_t nav, erp_t erp, List <result> res, RichTextBox text)
{
int nobs = 0;
rtktime solt = new rtktime();
string timestr = null;
obs_t obs = new obs_t();
ppp_t p3 = new ppp_t();
spp_t spp = new spp_t();
while ((nobs = inputobs(obs, obss)) > 0)
{
result re = new result();
solt = spp.tcur;
if (pntpos(obs.obs_b, nav, spp, dcb) == 0)
{
continue;
}
p3.spp = spp;
p3.soltime = spp.tcur;
if (solt.time_int != 0)
{
p3.tt = rtklibcmn.timediff(p3.soltime, solt);
}
if (pppos(p3, obs.obs_b, nav, dcb, sta, erp) != 1)
{
continue;
}
for (int j = 0; j < 3; j++)
{
spp.rr[j] = p3.x[j];
}
spp.dtr = p3.x[4];
re.time = obs.obs_b[0].t.calend;
re.X = p3.x[0]; re.Y = p3.x[1]; re.Z = p3.x[2];
timestr = re.time[0] + "/" + re.time[1] + "/" + re.time[2] + " " + re.time[3] + ":" + re.time[4] + ":" + re.time[5];
text.AppendText(string.Format("{0,-20}", timestr) + string.Format("{0,-20}", re.X) + string.Format("{0,-20}", re.Y) + string.Format("{0,-20}", re.Z) + "\r\n");
res.Add(re);
}
}
const double CLIGHT = 299792458.0; /* speed of light (m/s) */
/*读取观测值文件 支持ver 2.11*/
public static int readobs(string path, obs_t obs, station sta)
{
using (StreamReader sr = new StreamReader(path))
{
if (readobsh(sr, obs, sta) == 1 && (sta.ver < 3 && sta.ver > 0))
{
string line = "";
while (!sr.EndOfStream)
{
time tcurrent = new time(); string[] sprn = new string[64];
rtktime rtktcur = new rtktime();
int ns = 0; //每个历元观测到的卫星数
line = sr.ReadLine();
if (line != null) //读取含历元时间信息和卫星数的一行
{
tcurrent = new time(line.Substring(0, 26), "o"); //读取时间信息
rtklibcmn.str2time(line.Substring(0, 26), rtktcur);
ns = int.Parse(line.Substring(29, 3)); //读取当前历元观测到的卫星数
sprn = new string[ns]; //卫星prn
for (int i = 0, j = 32; i < ns; i++, j += 3)
{
if (j >= 68)
{
line = sr.ReadLine();
j = 32;
}
sprn[i] = line.Substring(j, 3);
}
}
for (int i = 0; i < ns; i++)//读取每个卫星相应的观测值
{
obs_s sat = new obs_s();
sat.t = tcurrent;
sat.rtkt = rtktcur;
sat.sprn = sprn[i];
line = sr.ReadLine();
for (int k = 0, j = 0; k < obs.ntype; k++, j += 16)//读取一颗卫星的所有观测值信息
{
obssat obsat = new obssat();
if (j >= 80)
{
line = sr.ReadLine();
j = 0;
}
obsat.type = obs.obstype[k];
if (j >= line.Length)
{
obsat.value = 0;
}
else
{
if (line.Substring(j, 14).Trim() == "")
{
obsat.value = 0;
}
else
{
obsat.value = double.Parse(line.Substring(j, 14));
}
}
sat.type_value.Add(obsat);
}
obs.obs_b.Add(sat);
}
obs.n += ns;
}
return(1);
}
else
{
return(0);
}
}
}
/*读取IGS精密星历*/
public static int readsp3(string path, sp3_t sp3)
{
using (StreamReader sr = new StreamReader(path))
{
double value = 0.0, std = 0.0, ba;
double[] bfact = new double[2];
int flag = 0;
string line = "";
for (int i = 0; i < 22; i++)//IGS
{
line = sr.ReadLine();
if (i == 2)
{
sp3.ns = int.Parse(line.Substring(4, 2));
}
if (i == 14)
{
bfact[0] = str2num(line, 3, 10);
bfact[1] = str2num(line, 14, 12);
}
}
if (sp3.ns == 0)
{
return(0);
}
while (!sr.EndOfStream)
{
time t1 = new time();
rtktime rtkt1 = new rtktime();
line = sr.ReadLine();
if (line.Contains("EOF"))
{
break;
}
if (line.Contains("*"))
{
t1 = new time(line, "sp3");
rtklibcmn.str2time(line.Substring(1), rtkt1);
}
for (int i = 0; i < sp3.ns; i++)
{
sp3b sb = new sp3b();
sb.t = t1;
sb.rtkt = rtkt1;
line = sr.ReadLine();
if (line.Substring(1, 1) == "G" && line.Substring(0, 1) == "P")//只读取GPS卫星
{
sb.prn = line.Substring(1, 3);
for (int j = 0; j < 4; j++)
{
value = str2num(line, 4 + j * 14, 14);
std = str2num(line, 61 + j * 3, j < 3 ? 2 : 3);
if (value != 0 && Math.Abs(value - 999999.999999) >= 1E-6)//读取卫星XYZ坐标，单位为米
{
sb.xyzt[j] = value * (j < 3 ? 1000.0 : 1E-6);
}
if ((ba = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0)
{
sb.std[j] = Math.Pow(ba, std) * (j < 3 ? 1E-3 : 1E-12);
}
}
}
sp3.sp3_b.Add(sb);
}
}
return(flag);
}
}
public static double timediff(rtktime t1, rtktime t2)
{
return(t1.time_int - t2.time_int + t1.sec - t2.sec);
}
/*由广播星历计算的电离层模型,克布罗歇模型*/
public static double ionmodel(time t, rtktime rtkt, double[] alpha, double[] bela, double[] pos, double[] azel)//由广播星历计算的电离层模型,克布罗歇模型
{
double[] ion_default = new double[8] {
0.1118E-07, -0.7451E-08, -0.5961E-07, 0.1192E-06,
0.1167E+06, -0.2294E+06, -0.1311E+06, 0.1049E+07
};
double tt, f, psi, phi, lam, amp, per, x;
int i;
if (pos[2] < -1E3 || azel[1] <= 0)
{
return(0.0);
}
for (i = 0; i < 4; i++)
{
if (alpha[i] != 0 || bela[i] != 0)
{
break;
}
}
if (i < 4)
{
for (int j = 0; j < 4; j++)
{
ion_default[j] = alpha[j];
ion_default[j + 4] = bela[j];
}
}
/* earth centered angle (semi-circle) */
psi = 0.0137 / (azel[1] / Math.PI + 0.11) - 0.022;
/* subionospheric latitude/longitude (semi-circle) */
phi = pos[0] / Math.PI + psi * Math.Cos(azel[0]);
if (phi > 0.416)
{
phi = 0.416;
}
else if (phi < -0.416)
{
phi = -0.416;
}
lam = pos[1] / Math.PI + psi * Math.Sin(azel[0]) / Math.Cos(phi * Math.PI);
/* geomagnetic latitude (semi-circle) */
phi += 0.064 * Math.Cos((lam - 1.617) * Math.PI);
/* local time (s) */
//tt = 43200.0 * lam + time2gpst(t, &week);
tt = 43200.0 * lam + rtklibcmn.time2gpst(rtkt, null);
tt -= Math.Floor(tt / 86400.0) * 86400.0; /* 0<=tt<86400 */
/* slant factor */
f = 1.0 + 16.0 * Math.Pow(0.53 - azel[1] / Math.PI, 3.0);
/* ionospheric delay */
amp = ion_default[0] + phi * (ion_default[1] + phi * (ion_default[2] + phi * ion_default[3]));
per = ion_default[4] + phi * (ion_default[5] + phi * (ion_default[6] + phi * ion_default[7]));
amp = amp < 0.0 ? 0.0 : amp;
per = per < 72000.0 ? 72000.0 : per;
x = 2.0 * Math.PI * (tt - 50400.0) / per;
return(CLIGHT * f * (Math.Abs(x) < 1.57 ? 5E-9 + amp * (1.0 + x * x * (-0.5 + x * x / 24.0)) : 5E-9));
}
/*电离层改正用于标准单点定位*/
public static int ioncorr(time t, rtktime rtkt, nav_t nav, double[] pos, double[] azel, double[] ion)
{
ion[0] = ionmodel(t, rtkt, nav.alpha, nav.beta, pos, azel);
ion[1] = Math.Pow(ion[0] * ERR_BRDCI, 2);
return(1);
}