/*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 double Prange(obs_s obs, dcb_t dcb, double[] azel, double[] var)
{
double PC, P1 = 0.0, P1_P2, P1_C1, gamma;
int prn;
gamma = (FREQ1 * FREQ1) / (FREQ2 * FREQ2);//f1^2/f2^2
foreach (var v in obs.type_value)
{
if (v.type == "C1")
{
P1 = v.value; break;
}
}
prn = int.Parse(obs.sprn.Substring(1, 2));
P1_C1 = dcb.dcbdata[prn - 1].P1_C1;
P1_P2 = dcb.dcbdata[prn - 1].P1_P2;
if (P1 == 0)
{
return(0.0);
}
P1 += P1_C1;
PC = P1 - P1_P2 / (1.0 - gamma);
var[0] = ERR_CBIAS * ERR_CBIAS;
return(PC);
}
public static int rescod(int iter, List <obs_s> obs, nav_t nav, int n, double[][] rs, double[][] dts, double[] vare, double[][] azel, int[] vsat,
dcb_t dcb, double[] x, matrix H, double[] v, double[] var, int[] svh)
{
double r, dtr, P, elmin = 15 * D2R, el = 0.0;;
int i, j, nv = 0;
double[] rr = new double[3], pos = new double[3], e = new double[3], vardcb = new double[1], ion = new double[2], trop = new double[2];
matrix p = new matrix(3, 1);
for (i = 0; i < 3; i++)
{
rr[i] = x[i];
}
dtr = x[3];
transcoor.ecef2pos(matrix.Array2matrix(rr), p);
pos = matrix.matrx2Array(p);
for (i = 0; i < n; i++)
{
vsat[i] = 0; azel[i][0] = azel[i][1] = 0;
if (svh[i] < 0)
{
continue;
}
if ((r = geodist(rs[i], rr, e)) < 0 || (el = pppcmn.satel(rr, rs[i], azel[i])) < elmin)
{
continue;
}
if ((P = Prange(obs[i], dcb, azel[i], vardcb)) == 0)
{
continue;
}
if (ioncorr(obs[i].t, obs[i].rtkt, nav, pos, azel[i], ion) != 1)
{
continue; //克罗布歇电离层模型
}
if (tropcorr(obs[i].t, pos, azel[i], trop) != 1)
{
continue; //对流层改正
}
/* pseudorange residual */ //伪距残差
v[nv] = P - (r + dtr - CLIGHT * dts[i][0] + ion[0] + trop[0]);
for (j = 1; j <= 4; j++)
{
H[nv + 1, j] = j <= 3 ? -e[j - 1] : 1.0; //观测矩阵
}
vsat[i] = 1;
//测量误差
var[nv++] = Math.Pow(100, 2) * (Math.Pow(0.003, 2) + Math.Pow(0.003, 2) / Math.Sin(azel[i][1])) + vardcb[0] + ion[1] + trop[1] + vare[i];
}
return(nv);
}
public static int corrmens(obs_s obs, dcb_t dcb, double[] pos, double[] dantr, double[] dants,
double[] phw, double[] meas, double[] var)
{
double c1, c2, L1 = 0.0, L2 = 0.0, P1 = 0.0, P2 = 0.0, P1_C1, gamma, lam1, lam2;
int i = 0, j = 1, k, sat;
lam1 = CLIGHT / FREQ1; lam2 = CLIGHT / FREQ2;
gamma = Math.Pow(FREQ1, 2) / Math.Pow(FREQ2, 2);
c1 = gamma / (gamma - 1.0); /* f1^2/(f1^2-f2^2) */
c2 = -1.0 / (gamma - 1.0); /* -f2^2/(f1^2-f2^2) */
sat = int.Parse(obs.sprn.Substring(1, 2));
foreach (var v in obs.type_value)
{
if (v.type == "L1")
{
L1 = v.value * lam1;
}
if (v.type == "L2")
{
L2 = v.value * lam2;
}
if (v.type == "P2")
{
P2 = v.value;
}
if (v.type == "C1")
{
P1 = v.value;
}
}
P1_C1 = dcb.dcbdata[sat - 1].P1_C1; //L1C/A
if (L1 == 0.0 || L2 == 0.0 || P1 == 0.0 || P2 == 0.0)
{
return(0);
}
meas[0] = c1 * L1 + c2 * L2 - (c1 * lam1 + c2 * lam2) * phw[0];
P1 += P1_C1;
meas[1] = c1 * P1 + c2 * P2; //伪距IF组合
var[1] = Math.Pow(ERR_CBIAS, 2);
for (k = 0; k < 2; k++)
{
if (dants != null)
{
meas[k] -= c1 * dants[i] + c2 * dants[j];
}
if (dantr != null)
{
meas[k] -= c1 * dantr[i] + c2 * dantr[j];
}
}
return(1);
}
/*读取码偏差文件*/
public static void readdcb(string[] path, dcb_t dcb)
{
for (int i = 0; i < 32; i++)
{
dcb.dcbdata.Add(new dcbb());
}
for (int i = 0; i < path.Length; i++)
{
using (StreamReader sr = new StreamReader(path[i]))
{
dcbb data;
string line = "";
int state = 0, nprn = 0;
string[] ss = null;
while (!sr.EndOfStream)
{
line = sr.ReadLine();
if (line.Contains("DIFFERENTIAL (P1-C1) CODE BIASES"))
{
state = 1;
}
if (line.Contains("DIFFERENTIAL (P1-P2) CODE BIASES"))
{
state = 2;
}
if (state == 0)
{
continue;
}
if ((ss = line.Split(new string[] { " " }, StringSplitOptions.RemoveEmptyEntries)) == null || ss.Count() != 3)
{
continue;
}
nprn = int.Parse(ss[0].Substring(1, 2));
if (nprn != 0 && nprn <= 32 && state == 1)
{
dcb.dcbdata[nprn - 1].prn = nprn;
dcb.dcbdata[nprn - 1].P1_C1 = double.Parse(ss[1]) * 1E-9 * CLIGHT;
}
if (nprn != 0 && nprn <= 32 && state == 2)
{
dcb.dcbdata[nprn - 1].prn = nprn;
dcb.dcbdata[nprn - 1].P1_P2 = double.Parse(ss[1]) * 1E-9 * CLIGHT;
}
}
}
}
}
public static void udstate(ppp_t ppp, dcb_t dcb, List <obs_s> obs)
{
//更新位置
if ((ppp.x[0] * ppp.x[0] + ppp.x[1] * ppp.x[1] + ppp.x[2] * ppp.x[2]) <= 0)//第一个历元
{
for (int i = 0; i < 3; i++)
{
initx(ppp, ppp.spp.rr[i], VAR_POS, i);
}
}
//更新钟差
initx(ppp, ppp.spp.dtr * CLIGHT, VAR_CLK, 3);
//更新对流层参数
uptrop(ppp);
//更新相位偏差
upbias_ppp(ppp, obs, dcb);
}
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);
}
}
public static int res_ppp(List <obs_s> obs, station sta, ppp_t p3, int n, double[][] rs, double[][] dts, double[][] azel, double[] vare, erp_t erp,
dcb_t dcb, double[] x, double[] R, double[] v, matrix H, int[] svh)
{
double r, dtrp, vart = Math.Pow(0.01, 2), elmin = 15 * D2R;
double[] rr = new double[3], disp = new double[3], pos = new double[3], e = new double[3], meas = new double[2], varm = new double[2];
double[] dtdx = new double[3], dantr = new double[3], var = new double[nx * 2], dants = new double[2], phw = new double[1];
matrix pos_ = new matrix(3, 1);
int i, j, nv = 0, k, sat;
for (i = 0; i < 3; i++)
{
rr[i] = x[i];
}
/* earth tides correction */ //地球潮汐改正 固体潮
tidedisp(obs[0].t, rtklibcmn.gpst2utc(obs[0].rtkt), rr, erp, disp);
for (i = 0; i < 3; i++)
{
rr[i] += disp[i];
}
transcoor.ecef2pos(matrix.Array2matrix(rr), pos_);
for (i = 0; i < 3; i++)
{
pos[i] = pos_[i + 1, 1];
}
for (i = 0; i < 32; i++)
{
p3.vsat[i] = 0;
}
for (i = 0; i < n; i++)
{
sat = int.Parse(obs[i].sprn.Substring(1, 2));
//
if (p3.spp.vsat[sat - 1] == 0 || svh[i] < 0)
{
continue;
}
if ((r = geodist(rs[i], rr, e)) <= 0 || pppcmn.satel(rr, rs[i], azel[i]) < elmin)
{
continue;
}
dtrp = pppcmn.prectrop(obs[i].t, pos, azel[i], x[4], dtdx); //精密对流层模型
pppcmn.satanxpcv(rs[i], rr, pcv, dants, obs[i].sprn); //卫星天线相位偏差，返回每个频率的改正值
pppcmn.antxmodel(pcv, sta.atxdel, azel[i], dantr, sta.anxtype);
pppcmn.windup(obs[i].t, p3.soltime, rs[i], rr, phw);
if (corrmens(obs[i], dcb, pos, dantr, dants, phw, meas, varm) != 1)
{
continue;
}
/* satellite clock and tropospheric delay */ //卫星钟差和电离层延迟
r += -CLIGHT * dts[i][0] + dtrp;
for (j = 0; j < 2; j++)
{
if (meas[j] == 0)
{
continue;
}
v[nv] = meas[j] - r;
for (k = 0; k < nx; k++)
{
H[nv + 1, k + 1] = 0.0;
}
for (k = 0; k < 3; k++)
{
H[nv + 1, k + 1] = -e[k];
}
v[nv] -= x[3]; H[nv + 1, 4] = 1.0;
H[nv + 1, 5] = dtdx[0];
if (j == 0)
{
v[nv] -= x[4 + sat];
H[nv + 1, 5 + sat] = 1.0;
}
var[nv] = varm[j] + vare[i] + vart + varerr(azel[i][1], j);
if (Math.Abs(v[nv]) > 30)
{
continue;
}
if (j == 0)
{
p3.vsat[sat - 1] = 1;
}
nv++;
}
}
for (i = 0; i < nv; i++)
{
R[i] = var[i];
}
return(nv);
}
//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);
}
public static void upbias_ppp(ppp_t p3, List <obs_s> obs, dcb_t dcb)
{
double[] meas = new double[2], var = new double[2], bias = new double[32], pos = new double[3], rr = new double[3], phw = new double[1];
double offset = 0.0;
matrix pos_ = new matrix(3, 1);
int i, j, k, sat, n = obs.Count;
for (i = 0; i < 32; i++)
{
p3.cyslip[i] = 0;
}
detslp_gf(p3, obs, n);
/* reset phase-bias if expire obs outage counter */
for (i = 0; i < 32; i++)
{
if (++p3.outc[i] > 5)
{
initx(p3, 0.0, 0.0, i + 5);
}
}
for (i = 0; i < 3; i++)
{
rr[i] = p3.spp.rr[i];
}
transcoor.ecef2pos(matrix.Array2matrix(rr), pos_);
for (i = 0; i < 3; i++)
{
pos[i] = pos_[i + 1, 1];
}
for (i = k = 0; i < n; i++)
{
sat = int.Parse(obs[i].sprn.Substring(1, 2));
j = sat + 4;
if ((corrmens(obs[i], dcb, pos, null, null, phw, meas, var)) != 1)
{
continue;
}
;
bias[i] = meas[0] - meas[1];
if (p3.x[j] == 0 || p3.cyslip[sat - 1] == 1)
{
continue;
}
offset += bias[i] - p3.x[j];
k++;
}
/* correct phase-code jump to enssure phase-code coherency */
if (k >= 2 && Math.Abs(offset / k) > 0.0005 * CLIGHT)
{
for (i = 0; i < 32; i++)
{
j = i + 5;
if (p3.x[j] != 0)
{
p3.x[j] += offset / k;
}
}
}
for (i = 0; i < n; i++)
{
sat = int.Parse(obs[i].sprn.Substring(1, 2));
j = sat + 4;
p3.P[j + 1, j + 1] += Math.Pow(1E-4, 2) * Math.Abs(p3.tt);
if (p3.x[j] != 0 && p3.cyslip[sat - 1] != 1)
{
continue; //已初始化且不发生周跳
}
if (bias[i] == 0)
{
continue;
}
initx(p3, bias[i], VAR_BIAS, j);
}
}
/*精密单点定位*/
public static int pppos(ppp_t pppt, List <obs_s> obs, nav_t nav, dcb_t dcb, station sta, erp_t erp)
{
int n = obs.Count, nv = 0, satprn;//当前历元观测的卫星个数
double[][] rs = new double[n][], dts = new double[n][], azel = new double[n][];
double[] var = new double[n], vare = new double[n];
int[] svh = new int[32];
double[] x = new double[nx], v = new double[2 * n], R = new double[2 * n];
matrix P = new matrix(37, 37);//
matrix H = new matrix(2 * n, nx);
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
}
//状态更新
udstate(pppt, dcb, obs);
pppcmn.satpos(obs, nav, sat, clk, pcv, rs, dts, vare, svh);
for (int i = 0; i < nx; i++)
{
x[i] = pppt.x[i];
}
for (int i = 0; i < 10; i++)//滤波迭代
{
if ((nv = res_ppp(obs, sta, pppt, n, rs, dts, azel, vare, erp, dcb, x, R, v, H, svh)) <= 0)
{
break;
}
for (int j = 0; j < nx; j++)
{
for (int k = 0; k < nx; k++)
{
P[j + 1, k + 1] = pppt.P[j + 1, k + 1];
}
}
kalman(x, R, v, P, H, nv);
}
for (int i = 0; i < nx; i++)
{
pppt.x[i] = x[i];
for (int j = 0; j < nx; j++)
{
pppt.P[i + 1, j + 1] = P[i + 1, j + 1];
}
}
for (int i = 0; i < 3; i++)
{
pppt.spp.rr[i] = pppt.x[i];
}
for (int i = 0; i < n; i++)
{
satprn = int.Parse(obs[i].sprn.Substring(1, 2));
if (pppt.vsat[satprn - 1] == 0)
{
continue;
}
pppt.outc[satprn - 1] = 0;
}
return(1);
}