/// <summary>
/// 构建观测历元。
/// </summary>
/// <param name="row"></param>
/// <param name="indexColName"></param>
/// <returns></returns>
public RinexEpochObservation BuildObs(Dictionary <String, object> row, string indexColName)
{
var obs = new RinexEpochObservation();
obs.ReceiverTime = new Geo.Times.Time((DateTime)row[indexColName]);
foreach (var item in row)
{
var name = item.Key;
if (name == indexColName)
{
continue;
}
var code = name.Substring(4);
var prn = SatelliteNumber.Parse(name);
if (!obs.Contains(prn))
{
obs[prn] = new RinexSatObsData(prn);
}
var obsValue = new RinexObsValue((double)item.Value, code);
obs[prn].Add(code, obsValue);
}
return(obs);
}
/// <summary>
/// 转换
/// </summary>
/// <returns></returns>
private RinexObsFile Convert()
{
InitProcess(RawTable.RowCount);
TimeConverter = null;
CurrentEpochInfo = null;
RinexOFile = CreateRinexObsFile();
int index = 0;//只有有效的观测历元才开始计数
foreach (var item in RawTable.BufferedValues)
{
if (IsCancel)
{
break;
}
if (RecordProcessed != null)
{
RecordProcessed(index);
}
RinexSatObsData satData = ParseOneRecord(item);
if (satData != null)
{
CurrentEpochInfo.Add(satData);
}
index++;
PerformProcessStep();
}
FullProcess();
return(RinexOFile);
}
/// <summary>
/// 创建RINEX观测数据
/// </summary>
/// <param name="prn"></param>
/// <param name="C1"></param>
/// <param name="D1"></param>
/// <param name="L1"></param>
/// <param name="S1"></param>
/// <returns></returns>
private static RinexSatObsData BuildRinexSatObsData(SatelliteNumber prn, double C1, double L1, double S1, double D1)
{
RinexSatObsData satData = new RinexSatObsData(prn);
satData.Add("C1", C1);
satData.Add("L1", L1);
satData.Add("S1", S1);
satData.Add("D1", D1);//存储为距离递增量，方便调试
return(satData);
}
public RinexEpochObservation GetEpochObservation(GlonassEpochMessage EpochMessage)
{
RinexEpochObservation rinex = new RinexEpochObservation();
rinex.ReceiverTime = EpochMessage.Header.Time;
foreach (var item in EpochMessage)
{
var msg = item as GlonassNormalMessage1012;
RinexSatObsData satData = GetSatObsData(msg);
rinex.Add(satData.Prn, satData);
}
return(rinex);
}
/// <summary>
/// 对上面的函数重新编写
/// </summary>
/// <param name="msg1004"></param>
/// <returns></returns>
public RinexSatObsData GetSatObsData(NormalMessage1004 msg1004)
{
RinexSatObsData obsData = new RinexSatObsData();
double L1Pseudorange = 0;
double L1Phase = 0;
double L2Pseudorange = 0;
double L2Phase = 0;
obsData.Prn = msg1004.Prn;
L1Pseudorange = GetL1PseudoRange(msg1004.GpsL1Pseudorange, msg1004.GpsIntegerL1PseudorangeModulusAmbiguity);
if (msg1004.GpsL1PhaseRangeMinusPseudorange != RtcmConst.MaxGpsL1PhaseRangeMinusPseudorange)
{
double L1PhaseMinusPseudorange = msg1004.GpsL1PhaseRangeMinusPseudorange * RtcmConst.PhaseRangeResolution / Frequence.GpsL1.WaveLength;
L1PhaseMinusPseudorange = RevisePhaseRange(obsData.Prn, FrequenceType.A, L1PhaseMinusPseudorange);
L1Phase = L1Pseudorange / Frequence.GpsL1.WaveLength + L1PhaseMinusPseudorange;
}
if (msg1004.GpsL2MinusL1PseudorangeDifference != RtcmConst.MaxL2MinusL1PseudorangeDifference)
{
L2Pseudorange = GetL2PseudoRange(L1Pseudorange, msg1004.GpsL2MinusL1PseudorangeDifference);
}
if (msg1004.GpsL2PhaseRangeMinusL1Pseudorange != RtcmConst.MaxGpsL1PhaseRangeMinusPseudorange)
{
double L2PhaseMinusL1Pseudorange = msg1004.GpsL2PhaseRangeMinusL1Pseudorange * RtcmConst.PhaseRangeResolution / Frequence.GpsL2.WaveLength;
L2PhaseMinusL1Pseudorange = RevisePhaseRange(obsData.Prn, FrequenceType.B, L2PhaseMinusL1Pseudorange);
L2Phase = L1Pseudorange / Frequence.GpsL2.WaveLength + L2PhaseMinusL1Pseudorange;
}
//obsData.
//ObservationCode ObservationCodeOfC = new ObservationCode();
//ObservationCode ObservationCodeOfL = new ObservationCode();
//ObservationCode ObservationCodeOfS = new ObservationCode();
//ObservationCode ObservationCodeOfD = new ObservationCode();
obsData.Add("C1X", L1Pseudorange);
obsData.Add("L1X", L1Phase);
obsData.Add("P2X", L2Pseudorange);
obsData.Add("L2X", L2Phase);
return(obsData);
}
/// <summary>
/// 对上面的函数重新编写
/// </summary>
/// <param name="msg1012"></param>
/// <returns></returns>
public RinexSatObsData GetSatObsData(GlonassNormalMessage1012 msg1012)
{
RinexSatObsData obsData = new RinexSatObsData();
double L1Pseudorange = 0;
double L1Phase = 0;
double L2Pseudorange = 0;
double L2Phase = 0;
obsData.Prn = msg1012.Prn;
L1Pseudorange = GetL1PseudoRange(msg1012.GlonassL1Pseudorange, msg1012.GlonassIntegerL1PseudorangeModulusAmbiguity);
if (msg1012.GlonassL1PhaseRangeMinusPseudorange < RtcmConst.MaxGpsL1PhaseRangeMinusPseudorange)
{
double L1PhaseMinusPseudorange = msg1012.GlonassL1PhaseRangeMinusPseudorange * RtcmConst.PhaseRangeResolution / Frequence.GpsL1.WaveLength;
L1PhaseMinusPseudorange = RevisePhaseRange(obsData.Prn, FrequenceType.A, L1PhaseMinusPseudorange);
L1Phase = L1Pseudorange / Frequence.GpsL1.WaveLength + L1PhaseMinusPseudorange;
}
if (msg1012.GlonassL2MinusL1PseudorangeDifference < RtcmConst.MaxL2MinusL1PseudorangeDifference)
{
L2Pseudorange = GetL2PseudoRange(L1Pseudorange, msg1012.GlonassL2MinusL1PseudorangeDifference);
}
if (msg1012.GlonassL2PhaseRangeMinusL1Pseudorange < RtcmConst.MaxGpsL1PhaseRangeMinusPseudorange)
{
double L2PhaseMinusL1Pseudorange = msg1012.GlonassL2PhaseRangeMinusL1Pseudorange * RtcmConst.PhaseRangeResolution / Frequence.GpsL2.WaveLength;
L2PhaseMinusL1Pseudorange = RevisePhaseRange(obsData.Prn, FrequenceType.B, L2PhaseMinusL1Pseudorange);
L2Phase = L1Pseudorange / Frequence.GpsL2.WaveLength + L2PhaseMinusL1Pseudorange;
}
//obsData.
obsData.Add("C1X", L1Pseudorange);
obsData.Add("L1X", L1Phase);
obsData.Add("P2X", L2Pseudorange);
obsData.Add("L2X", L2Phase);
return(obsData);
}
/// <summary>
/// RTCM MSM文件信息转换为观测文件信息.此处返回的是RINEX3.0的数据类型。
/// </summary>
/// <param name="msg"></param>
/// <param name="HeaderOfMSM"></param>
/// <returns></returns>
public RinexEpochObservation GetRinexEpochObservation(BaseMSM msg, HeaderOfMSM HeaderOfMSM)
{
RinexEpochObservation RinexEpochObservation = new RinexEpochObservation();
uint messageNumber = HeaderOfMSM.MessageNumber;
double wavelength = 0;
int frequencyBand = 0;
string str = null;
string attribute = null;
double P = 0, L = 0, D = 0, S = 0;
int j = 0;
int index = 0;
double p = 0;
SatelliteType satType = SatelliteType.G;
for (int i = 0; i < HeaderOfMSM.SatCount; i++)
{
RinexSatObsData SatObsData = new RinexSatObsData();
for (int k = 0; k < HeaderOfMSM.Nsig; k++)
{
if (HeaderOfMSM.CellMask[index++] == 0)
{
continue;
}
if (messageNumber >= 1071 && messageNumber <= 1077)//GPS
{
satType = SatelliteType.G;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.G);
str = msm_sig_gps[HeaderOfMSM.SignalMask[k] - 1];
frequencyBand = int.Parse(str.Substring(0, 1));
attribute = str.Substring(1, 1);
if (frequencyBand == 1)
{
wavelength = Frequence.GpsL1.WaveLength;
}
else if (frequencyBand == 2)
{
wavelength = Frequence.GpsL2.WaveLength;
}
else if (frequencyBand == 5)
{
wavelength = Frequence.GpsL5.WaveLength;
}
}
else if (messageNumber >= 1081 && messageNumber <= 1087)//GLONASS
{
satType = SatelliteType.R;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.R);
}
else if (messageNumber >= 1091 && messageNumber <= 1097)//GALILEO
{
satType = SatelliteType.E;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.E);
}
else if (messageNumber >= 1101 && messageNumber <= 1017)//SBS
{
satType = SatelliteType.S;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.S);
}
else if (messageNumber >= 1111 && messageNumber <= 1117)//QZS
{
satType = SatelliteType.J;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.J);
}
else if (messageNumber >= 1121 && messageNumber <= 1127)//BDS
{
satType = SatelliteType.C;
SatObsData.Prn = new SatelliteNumber(HeaderOfMSM.SatlliteMask[i], SatelliteType.C);
str = msm_sig_gps[HeaderOfMSM.SignalMask[k] - 1];
frequencyBand = int.Parse(str.Substring(0, 1));
attribute = str.Substring(1, 1);
if (frequencyBand == 2)
{
wavelength = Frequence.CompassB1.WaveLength;
}
else if (frequencyBand == 6)
{
wavelength = Frequence.CompassB3.WaveLength;
}
else if (frequencyBand == 7)
{
wavelength = Frequence.CompassB2.WaveLength;
}
}
var ObservationCodeOfC = new ObservationCode(ObservationType.C, frequencyBand, attribute);
var ObservationCodeOfL = new ObservationCode(ObservationType.L, frequencyBand, attribute);
var ObservationCodeOfS = new ObservationCode(ObservationType.S, frequencyBand, attribute);
var ObservationCodeOfD = new ObservationCode(ObservationType.D, frequencyBand, attribute);
if (msg.NumberOfIntegerMsInSatRoughRange.Count != 0)
{
p = msg.NumberOfIntegerMsInSatRoughRange[i] * 0.001 + msg.SatelliteRoughRangesModulo1ms[i] * Math.Pow(2, -13);
}
else
{
p = msg.SatelliteRoughRangesModulo1ms[i] * Math.Pow(2, -13);
}
if (msg.SignalFinePseudorange.Count != 0)
{
P = msg.SignalFinePseudorange[j] * Math.Pow(2, -24) + p;
}
else if (msg.SignalFinePseudorangeWithExtendedResolution.Count != 0)
{
P = msg.SignalFinePseudorangeWithExtendedResolution[j] * Math.Pow(2, -29) + p;
}
P = P * RtcmConst.LightSpeedPerMillisecond;
if (msg.SignalFinePhaseRange.Count != 0)
{
L = msg.SignalFinePhaseRange[j] * Math.Pow(2, -29) + p;
}
else if (msg.SignalFinePhaseRangeWithExtendedResolution.Count != 0)
{
L = msg.SignalFinePhaseRangeWithExtendedResolution[j] * Math.Pow(2, -31) + p;
}
L = L * RtcmConst.LightSpeedPerMillisecond / wavelength;
if (msg.PhaseRangeLockTimeIndicator.Count != 0)
{
S = msg.PhaseRangeLockTimeIndicator[j];
}
else if (msg.PhaseRangeLockTimeIndicatorWithExtendedRangeAndResolution[j] != 0)
{
S = msg.PhaseRangeLockTimeIndicatorWithExtendedRangeAndResolution[j];
}
if (messageNumber % 10 == 5 || messageNumber % 10 == 7 && msg.SatRoughPhaseRangeRate.Count != 0)
{
if (msg.SatRoughPhaseRangeRate[i] > -1638.4)
{
D = -(msg.SatRoughPhaseRangeRate[i] * 0.001 + msg.SignalFinePhaseRangeRate[j] * 0.0001) / wavelength;
}
}
SatObsData.Add(ObservationCodeOfC.ToString(), P);
SatObsData.Add(ObservationCodeOfL.ToString(), L);
SatObsData.Add(ObservationCodeOfS.ToString(), S);
SatObsData.Add(ObservationCodeOfD.ToString(), D);
//更新头部信息
var obsCodes = new List <string>();
obsCodes.Add(ObservationCodeOfC.ToString());
obsCodes.Add(ObservationCodeOfL.ToString());
obsCodes.Add(ObservationCodeOfS.ToString());
obsCodes.Add(ObservationCodeOfD.ToString());
if (ObsHeader != null)
{
ObsHeader.ObsCodes[satType] = obsCodes;
}
j++;
}
RinexEpochObservation.Add(SatObsData.Prn, SatObsData);
}
RinexEpochObservation.Header = ObsHeader;
RinexEpochObservation.ReceiverTime = HeaderOfMSM.EpochTime;
return(RinexEpochObservation);
}
/// <summary>
/// 解析一行数据。
/// </summary>
/// <param name="item"></param>
/// <returns></returns>
private RinexSatObsData ParseOneRecord(Dictionary <string, object> item)
{
RinexSatObsData satData = null;
#region 赋值
long timeNanos = ParseLong(item, TimeNanos);
//当前时间到GPS起始时间的纳秒数，为负数。
long fullBiasNanos = ParseLong(item, FullBiasNanos);
double biasNanos = ParseDouble(item, BiasNanos);
double timeOffsetNanos = ParseDouble(item, TimeOffsetNanos);
long receivedSvTimeNanos = ParseLong(item, ReceivedSvTimeNanos);
long receivedSvTimeUncertaintyNanos = ParseLong(item, ReceivedSvTimeUncertaintyNanos);
int hardwareClockDiscontinuityCount = ParseInt(item, HardwareClockDiscontinuityCount);
int accumulatedDeltaRangeState = ParseInt(item, AccumulatedDeltaRangeState);
double cn0DbHz = ParseDouble(item, Cn0DbHz);
double accumulatedDeltaRangeMeters = ParseDouble(item, AccumulatedDeltaRangeMeters);
#endregion
SatelliteNumber prn = ParsePrn(item);
//伪距不确定度太大，本数据作废
if (receivedSvTimeUncertaintyNanos > 1e8)
{
log.Debug(prn + " 卫星时间不确定度太大，忽略本数据 " + receivedSvTimeUncertaintyNanos);
return(satData);
}//简单判断伪距
//如果钟跳发生了，或指定的被减伪距值无效，则重置被减伪距
bool isClockDisCountChanged = (_prevHardwareClockDisCount != hardwareClockDiscontinuityCount);
_prevHardwareClockDisCount = hardwareClockDiscontinuityCount;
//决定是否新建时间计算器。
if (TimeConverter == null || !TimeConverter.IsEpochValid)
{
TimeConverter = new AndroidGnssTimeConverter(fullBiasNanos, Option.IsFromFirstEpoch);//fullBiasNanos值并不准确，含有偏差，不能用于计算所有伪距。
if (!TimeConverter.IsEpochValid)
{
log.Debug("当前历元时间不合法，" + TimeConverter.FirstEpochOfUtc + ",将重试。");
return(satData);
}
}
TimeConverter.SetFullBias(fullBiasNanos)
.SetTimeNanos(timeNanos)
.SeBiasNanos(biasNanos)
.SetTimeOffsetNanos(timeOffsetNanos);
Time currentUtcTime = TimeConverter.GetReceiverUtcTime();
TimeConverter.SetSatelliteType(prn.SatelliteType);
//若是新历元
if (IsNewEpoch(CurrentEpochInfo, _currentTimeNanos, timeNanos)) //新历元
{
_currentTimeNanos = timeNanos; //记录当接收机时间，用于判断是否是同一个历元
CurrentEpochInfo = new RinexEpochObservation(currentUtcTime);
RinexOFile.Add(CurrentEpochInfo);
}
//计算伪距
double transTime = TimeConverter.GetTransmissionTime(receivedSvTimeNanos);
double C1 = transTime * GnssConst.LIGHT_SPEED;
bool isPassed = CheckPsuedorange(ref prn, C1);
if (!isPassed)
{
C1 = 0;
}
if (C1 == 0 && Option.IsSkipZeroPseudorange)
{
log.Debug(currentUtcTime + ", " + prn + "伪距为0，忽略本数据 ");
return(satData);
}
if (accumulatedDeltaRangeMeters == 0 && Option.IsSkipZeroPhase)
{
log.Debug(currentUtcTime + ", " + prn + "载波为 0，忽略本数据 ");
return(satData);
}
//时间积累差，带来的近距离变化差
double timeErrorDistance = TimeConverter.GetDifferDistance();
var phaseRange = accumulatedDeltaRangeMeters - timeErrorDistance;//相位距离
var aligner = NumericalAlignerManager.GetOrCreate(prn);
if (isClockDisCountChanged) //如果钟跳发生，则将第一个差分伪距设置为当前伪距值。
{
aligner.IsReset = true;
}
phaseRange = aligner.GetAlignedValue(currentUtcTime, phaseRange, C1);
double L1 = GetL1(phaseRange, prn, Option.IsToCylePhase);
double S1 = cn0DbHz;
double D1 = phaseRange; //test for range
satData = BuildRinexSatObsData(prn, C1, L1, S1, D1);
return(satData);
}
