/*标准单点定位*/
public static int pntpos(List <obs_s> obs, nav_t nav, spp_t spp, dcb_t dcb) //obs均已按照PRN号大小排列好
{
/*
* n为观测历元观测到的卫星总数，stat为解算状态
* vsat为卫星的状态 0为error，1为正常
* svh为卫星坐标和钟差计算的状态，-1为不正常
* rs包括卫星坐标和速度，dts包括卫星钟差和钟漂，azel包括卫星方位角和高度角
* var为卫星坐标和钟差的方差
*/
int n = obs.Count, stat = 1;
int[] vsat = new int[32], svh = new int[32];
double[][] rs = new double[n][], dts = new double[n][], azel = new double[n][];
double[] var = new double[n], resp = new double[n];
for (int i = 0; i < n; i++)
{
rs[i] = new double[6]; //卫星坐标和速度
dts[i] = new double[2]; //卫星的钟差和钟漂
azel[i] = new double[2]; //卫星的方位角和高度角
}
pppcmn.satpos(obs, nav, sat, clk, pcv, rs, dts, var, svh);
stat = estpos(spp, obs, dcb, nav, n, rs, dts, var, azel, vsat, svh);
for (int i = 0; i < n; i++)
{
int sat = int.Parse(obs[i].sprn.Substring(1, 2));
if (vsat[i] == 1)
{
spp.vsat[sat - 1] = 1;
}
}
return(stat);
}
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);
}
}
//obs均已按照PRN号大小排列好
public static int estpos(spp_t spp, List <obs_s> obs, dcb_t dcb, nav_t nav, int n, double[][] rs, double[][] dts,
double[] vare, double[][] azel, int[] vsat, int[] svh)
{
double[] v_ = new double[n], x = new double[4], var = new double[n];
matrix H_ = new matrix(n, 4), H, v, dx, Q, P;
int nv;
double sig;
int i, j, k, stat = 1;
for (i = 0; i < 3; i++)
{
x[i] = spp.rr[i];
}
for (i = 0; i < 10; i++)//迭代
{
nv = rescod(i, obs, nav, n, rs, dts, vare, azel, vsat, dcb, x, H_, v_, var, svh);
if (nv < 4)
{
break; //nv是参与解算的实际卫星数
}
H = new matrix(nv, 4); v = new matrix(nv, 1); P = new matrix(nv, nv);
for (j = 0; j < nv; j++)
{
sig = Math.Sqrt(var[j]);
v[j + 1, 1] = v_[j] / sig;
for (k = 1; k <= 4; k++)
{
H[j + 1, k] = H_[j + 1, k] / sig;
}
}
dx = matrix.inv(matrix.transp(H) * H) * matrix.transp(H) * v;
Q = matrix.transp(H) * H;
for (j = 0; j < 4; j++)
{
x[j] += dx[j + 1, 1];
}
if (Math.Sqrt(dx[1, 1] * dx[1, 1] + dx[2, 1] * dx[2, 1] + dx[3, 1] * dx[3, 1] + dx[4, 1] * dx[4, 1]) < 1E-4)
{
spp.dtr = x[3] / CLIGHT;
for (j = 0; j < 3; j++)
{
spp.rr[j] = x[j];
}
spp.tcurr.gpsec = obs[0].t.gpsec - spp.dtr;
spp.tcur = rtklibcmn.timeadd(obs[0].rtkt, -x[3] / CLIGHT);
for (j = 0; j < 6; j++)
{
spp.tcurr.calend[j] = obs[0].t.calend[j];
}
stat = valsol(azel, vsat, 15.0 * D2R, n, v, nv, 4);
return(stat);
}
}
return(1);
}