/* gpst2time(), time2gpst() */
void utest4(void)
{
gtime_t t;
double ep[6];
int w,week;
double time,tt;
t=gpst2time(0,0.0); time2epoch(t,ep);
assert(ep[0]==1980&&ep[1]==1&&ep[2]==6&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2time(1400,86400.0); time2epoch(t,ep);
assert(ep[0]==2006&&ep[1]==11&&ep[2]==6&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2time(1400,86400.0*7-1.0); time2epoch(t,ep);
assert(ep[0]==2006&&ep[1]==11&&ep[2]==11&&ep[3]==23&&ep[4]==59&&ep[5]==59.0);
t=gpst2time(1400,86400.0*7); time2epoch(t,ep);
assert(ep[0]==2006&&ep[1]==11&&ep[2]==12&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2time(1401,0.0); time2epoch(t,ep);
assert(ep[0]==2006&&ep[1]==11&&ep[2]==12&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
for (w=1000;w<1100;w++) {
for (time=0.0;time<86400.0*7;time+=3600.0) {
t=gpst2time(w,time); tt=time2gpst(t,&week);
assert(tt==time&&week==w);
}
}
printf("%s utset4 : OK\n",__FILE__);
}
/* main ----------------------------------------------------------------------*/
int main(int argc, char **argv)
{
gtime_t time;
double ep[6]= {0};
int i,page=1;
time2epoch(utc2gpst(timeget()),ep);
ep[4]=ep[5]=0.0;
for (i=1; i<argc; i++) {
if (!strcmp(argv[i],"-t")&&i+2<argc) {
sscanf(argv[++i],"%lf/%lf/%lf",ep ,ep+1,ep+2);
sscanf(argv[++i],"%lf:%lf:%lf",ep+3,ep+4,ep+5);
}
else if (!strcmp(argv[i],"-p")&&i+1<argc) page=atoi(argv[++i]);
}
time=epoch2time(ep);
switch (page) {
case 1:
gen_page1(time,TEMP1,PAGE1);
break;
case 2:
gen_page2(time,TEMP2,PAGE2);
break;
case 3:
gen_page3(time,TEMP3,PAGE3);
break;
}
return 0;
}
static void statesend(hcnraw_t *hcnraw){
state_t state = { { 0 } };
gtime_t utc;
double timer[6];
utc=gpst2utc(hcnraw->time);
time2epoch(utc,timer);
#if 0
if((timer=gmtime(&utc.time))){
sprintf(state.utctime,"%d-%d-%d-%d-%d-%d",timer->tm_year,
timer->tm_mon,timer->tm_mday,timer->tm_hour,timer->tm_min,
timer->tm_sec);
}
#endif
sprintf(state.utctime,"%.0f-%.0f-%.0f-%.0f-%.0f-%.0f",
timer[0],timer[1],timer[2],timer[3],timer[4],timer[5]);
state.antn.mainantnworksta = hcnraw->board.mainantnworksta;
state.antn.mainantnrfsta = hcnraw->board.mainantnrfsta;
state.antn.aantnworksta = hcnraw->board.aantnworksta;
state.antn.aantnrfsta = hcnraw->board.aantnrfsta;
state.cpu.acpuload = hcnraw->board.acpuload;
state.cpu.dcpuload = hcnraw->board.dcpuload;
state.cpu.astatus = hcnraw->board.astatus;
state.cpu.dstatus = hcnraw->board.dstatus;
#if 1
state.cpu.fstatus = hcnraw->board.fstatus;
#endif
pthread_mutex_lock(&lock);
cmd_response_massage( sock,&msg_head[0],&state,sizeof(state_t));
pthread_mutex_unlock(&lock);
}
/* gpst2utc() */
void utest7(void)
{
double ep0[]={1980, 1, 6, 0, 0, 0.000000};
double ep1[]={1992, 7, 1, 0, 0, 6.999999};
double ep2[]={1992, 7, 1, 0, 0, 7.000000};
double ep3[]={1992, 7, 1, 0, 0, 8.000000};
double ep4[]={2004,12,31,23,59,59.999999};
double ep5[]={2006, 1, 1, 0, 0, 0.000000};
double ep6[]={2038, 1, 1, 0, 0, 0.000000};
gtime_t t;
double ep[6];
t=gpst2utc(epoch2time(ep0)); time2epoch(t,ep);
assert(ep[0]==1980&&ep[1]==1&&ep[2]==6&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep1)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==6&&ep[2]==30&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-59.999999)<1E-14);
t=gpst2utc(epoch2time(ep2)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==7&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep3)); time2epoch(t,ep);
assert(ep[0]==1992&&ep[1]==7&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=gpst2utc(epoch2time(ep4)); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-46.999999)<1E-14);
t=gpst2utc(epoch2time(ep5)); time2epoch(t,ep);
assert(ep[0]==2005&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==47.0);
t=gpst2utc(epoch2time(ep6)); time2epoch(t,ep);
assert(ep[0]==2037&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==44.0);
printf("%s utset7 : OK\n",__FILE__);
}
/* decode nmea gpgga: fix information ----------------------------------------*/
static int decode_nmeagga(char **val, int n, sol_t *sol)
{
gtime_t time;
double tod=0.0,lat=0.0,lon=0.0,hdop=0.0,alt=0.0,msl=0.0,ep[6],tt;
double pos[3]={0};
char ns='N',ew='E',ua=' ',um=' ';
int i,solq=0,nrcv=0;
trace(4,"decode_nmeagga: n=%d\n",n);
for (i=0;i<n;i++) {
switch (i) {
case 0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
case 1: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
case 2: ns =*val[i]; break; /* N=north,S=south */
case 3: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
case 4: ew =*val[i]; break; /* E=east,W=west */
case 5: solq=atoi(val[i]); break; /* fix quality */
case 6: nrcv=atoi(val[i]); break; /* # of satellite tracked */
case 7: hdop=atof(val[i]); break; /* hdop */
case 8: alt =atof(val[i]); break; /* altitude in msl */
case 9: ua =*val[i]; break; /* unit (M) */
case 10: msl =atof(val[i]); break; /* height of geoid */
case 11: um =*val[i]; break; /* unit (M) */
}
}
if ((ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
trace(2,"invalid nmea gpgga format\n");
return 0;
}
if (sol->time.time==0.0) {
trace(2,"no date info for nmea gpgga\n");
return 0;
}
pos[0]=(ns=='N'?1.0:-1.0)*dmm2deg(lat)*D2R;
pos[1]=(ew=='E'?1.0:-1.0)*dmm2deg(lon)*D2R;
pos[2]=alt+msl;
time2epoch(sol->time,ep);
septime(tod,ep+3,ep+4,ep+5);
time=utc2gpst(epoch2time(ep));
tt=timediff(time,sol->time);
if (tt<-43200.0) sol->time=timeadd(time, 86400.0);
else if (tt> 43200.0) sol->time=timeadd(time,-86400.0);
else sol->time=time;
pos2ecef(pos,sol->rr);
sol->stat=0<=solq&&solq<=8?solq_nmea[solq]:SOLQ_NONE;
sol->ns=nrcv;
sol->type=0; /* postion type = xyz */
trace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n",
time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
hdop,ua,um);
return 1;
}
/* tidal displacement ----------------------------------------------------------
* displacements by earth tides
* args : gtime_t tutc I time in utc
* double *rr I site position (ecef) (m)
* int opt I options (or of the followings)
* 1: solid earth tide
* 2: ocean tide loading
* 4: pole tide
* 8: elimate permanent deformation
* double *erp I earth rotation parameters (NULL: not used)
* double *odisp I ocean loading parameters (NULL: not used)
* odisp[0+i*6]: consituent i amplitude radial(m)
* odisp[1+i*6]: consituent i amplitude west (m)
* odisp[2+i*6]: consituent i amplitude south (m)
* odisp[3+i*6]: consituent i phase radial (deg)
* odisp[4+i*6]: consituent i phase west (deg)
* odisp[5+i*6]: consituent i phase south (deg)
* (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,
* 8:Mf,9:Mm,10:Ssa)
* double *dr O displacement by earth tides (ecef) (m)
* return : none
* notes : see ref [1], [2] chap 7
* see ref [4] 5.2.1, 5.2.2, 5.2.3
* ver.2.4.0 does not use ocean loading and pole tide corrections
*-----------------------------------------------------------------------------*/
extern void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
const double *odisp, double *dr)
{
gtime_t tut;
double pos[2],E[9],drt[3],denu[3],rs[3],rm[3],gmst,erpv[5]={0};
int i;
#ifdef IERS_MODEL
double ep[6],fhr;
int year,mon,day;
#endif
trace(3,"tidedisp: tutc=%s\n",time_str(tutc,0));
if (erp) geterp(erp,tutc,erpv);
tut=timeadd(tutc,erpv[2]);
dr[0]=dr[1]=dr[2]=0.0;
if (norm(rr,3)<=0.0) return;
pos[0]=asin(rr[2]/norm(rr,3));
pos[1]=atan2(rr[1],rr[0]);
xyz2enu(pos,E);
if (opt&1) { /* solid earth tides */
/* sun and moon position in ecef */
sunmoonpos(tutc,erpv,rs,rm,&gmst);
#ifdef IERS_MODEL
time2epoch(tutc,ep);
year=(int)ep[0];
mon =(int)ep[1];
day =(int)ep[2];
fhr =ep[3]+ep[4]/60.0+ep[5]/3600.0;
/* call DEHANTTIDEINEL */
dehanttideinel_((double *)rr,&year,&mon,&day,&fhr,rs,rm,drt);
#else
tide_solid(rs,rm,pos,E,gmst,opt,drt);
#endif
for (i=0;i<3;i++) dr[i]+=drt[i];
}
if ((opt&2)&&odisp) { /* ocean tide loading */
tide_oload(tut,odisp,denu);
matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
for (i=0;i<3;i++) dr[i]+=drt[i];
}
if ((opt&4)&&erp) { /* pole tide */
tide_pole(pos,erpv,denu);
matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
for (i=0;i<3;i++) dr[i]+=drt[i];
}
trace(5,"tidedisp: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
}
/* adjust daily rollover of time ---------------------------------------------*/
static gtime_t adjday(gtime_t time, double tod)
{
double ep[6],tod_p;
time2epoch(time,ep);
tod_p=ep[3]*3600.0+ep[4]*60.0+ep[5];
if (tod<tod_p-43200.0) tod+=86400.0;
else if (tod>tod_p+43200.0) tod-=86400.0;
ep[3]=ep[4]=ep[5]=0.0;
return timeadd(epoch2time(ep),tod);
}
/* timeadd() */
void utest5(void)
{
double ep0[]={2003,12,31,23,59,59.000000};
double ep1[]={2004, 1, 1, 0, 0, 1.000000};
double ep2[]={2004, 2,28, 0, 0, 0.000000};
double ep3[]={2004, 2,29, 0, 0, 0.000000};
gtime_t t;
double ep[6];
t=timeadd(epoch2time(ep0),3.0); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==1&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==2.0);
t=timeadd(epoch2time(ep1),-3.0); time2epoch(t,ep);
assert(ep[0]==2003&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&ep[5]==58.0);
t=timeadd(epoch2time(ep2),86400.0); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==2&&ep[2]==29&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=timeadd(epoch2time(ep2),86400.0*2); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==3&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=timeadd(epoch2time(ep3),86400.0*2); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==3&&ep[2]==2&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
printf("%s utset5 : OK\n",__FILE__);
}
/* str2time() */
void utest2(void)
{
char s1[30]="....2004 1 1 0 1 2.345........";
char s2[30]=".... 00 2 3 23 59 59.999.....";
char s3[30]=".... 80 10 30 6 58 9.........";
char s4[30]=".... 37 12 31 1 2 3 .........";
int s;
gtime_t t;
double ep[6];
s=str2time(s1,0,0,&t); assert(s<0);
s=str2time(s1,30,10,&t); assert(s<0);
s=str2time(s1,10,0,&t); assert(s<0);
s=str2time(s1,-1,10,&t); assert(s<0);
s=str2time(s1,4,17,&t); time2epoch(t,ep);
assert(!s&&ep[0]==2004&&ep[1]==1&&ep[2]==1&&ep[3]==0&&ep[4]==1&&fabs(ep[5]-2.34)<1E-15);
s=str2time(s2,4,21,&t); time2epoch(t,ep);
assert(!s&&ep[0]==2000&&ep[1]==2&&ep[2]==3&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-59.999)<1E-14);
s=str2time(s3,4,20,&t); time2epoch(t,ep);
assert(!s&&ep[0]==1980&&ep[1]==10&&ep[2]==30&&ep[3]==6&&ep[4]==58&&ep[5]==9);
s=str2time(s4,4,20,&t); time2epoch(t,ep);
assert(!s&&ep[0]==2037&&ep[1]==12&&ep[2]==31&&ep[3]==1&&ep[4]==2&&ep[5]==3);
printf("%s utset2 : OK\n",__FILE__);
}
/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
static void tide_oload(gtime_t tut, const double *odisp, double *denu)
{
const double args[][5]={
{1.40519E-4, 2.0,-2.0, 0.0, 0.00}, /* M2 */
{1.45444E-4, 0.0, 0.0, 0.0, 0.00}, /* S2 */
{1.37880E-4, 2.0,-3.0, 1.0, 0.00}, /* N2 */
{1.45842E-4, 2.0, 0.0, 0.0, 0.00}, /* K2 */
{0.72921E-4, 1.0, 0.0, 0.0, 0.25}, /* K1 */
{0.67598E-4, 1.0,-2.0, 0.0,-0.25}, /* O1 */
{0.72523E-4,-1.0, 0.0, 0.0,-0.25}, /* P1 */
{0.64959E-4, 1.0,-3.0, 1.0,-0.25}, /* Q1 */
{0.53234E-5, 0.0, 2.0, 0.0, 0.00}, /* Mf */
{0.26392E-5, 0.0, 1.0,-1.0, 0.00}, /* Mm */
{0.03982E-5, 2.0, 0.0, 0.0, 0.00} /* Ssa */
};
const double ep1975[]={1975,1,1,0,0,0};
double ep[6],fday,days,t,t2,t3,a[5],ang,dp[3]={0};
int i,j;
trace(3,"tide_oload:\n");
/* angular argument: see subroutine arg.f for reference [1] */
time2epoch(tut,ep);
fday=ep[3]*3600.0+ep[4]*60.0+ep[5];
ep[3]=ep[4]=ep[5]=0.0;
days=timediff(epoch2time(ep),epoch2time(ep1975))/86400.0;
t=(27392.500528+1.000000035*days)/36525.0;
t2=t*t; t3=t2*t;
a[0]=fday;
a[1]=(279.69668+36000.768930485*t+3.03E-4*t2)*D2R; /* H0 */
a[2]=(270.434358+481267.88314137*t-0.001133*t2+1.9E-6*t3)*D2R; /* S0 */
a[3]=(334.329653+4069.0340329577*t+0.010325*t2-1.2E-5*t3)*D2R; /* P0 */
a[4]=2.0*PI;
/* displacements by 11 constituents */
for (i=0;i<11;i++) {
ang=0.0;
for (j=0;j<5;j++) ang+=a[j]*args[i][j];
for (j=0;j<3;j++) dp[j]+=odisp[j+i*6]*cos(ang-odisp[j+3+i*6]*D2R);
}
denu[0]=-dp[1];
denu[1]=-dp[2];
denu[2]= dp[0];
trace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
}
//---------------------------------------------------------------------------
void __fastcall TConvDialog::TimeY2UDChangingEx(TObject *Sender,
bool &AllowChange, short NewValue, TUpDownDirection Direction)
{
AnsiString s;
double ep[]={2000,1,1,0,0,0};
int p=TimeY2->SelStart,ud=Direction==updUp?1:-1;
sscanf(TimeY2->Text.c_str(),"%lf/%lf/%lf",ep,ep+1,ep+2);
if (4<p&&p<8) {
ep[1]+=ud;
if (ep[1]<=0) {ep[0]--; ep[1]+=12;}
else if (ep[1]>12) {ep[0]++; ep[1]-=12;}
}
else if (p>7||p==0) ep[2]+=ud; else ep[0]+=ud;
time2epoch(epoch2time(ep),ep);
TimeY2->Text=s.sprintf("%04.0f/%02.0f/%02.0f",ep[0],ep[1],ep[2]);
TimeY2->SelStart=p>7||p==0?10:(p>4?7:4);
}
static jboolean open_solution_status_file(JNIEnv* env, int level, gtime_t timestamp)
{
double ep[6];
char filename[1024];
if (level <= 0)
return JNI_FALSE;
time2epoch(utc2gpst(timestamp),ep);
sprintf(filename,"rtkgps_%04.0f%02.0f%02.0f%02.0f%02.0f%02.0f.stat",
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5]);
if (!get_path_in_storage_dir(env, filename, sizeof(filename)))
return JNI_FALSE;
LOGV("open_solution_status_file() %s", filename);
rtkopenstat(filename, level);
return JNI_TRUE;
}
/* output reference ----------------------------------------------------------*/
static int out_ref(FILE *ofp, gtime_t ts)
{
double ep[6];
char file[1024];
int i;
fprintf(ofp," <TR>\n");
fprintf(ofp," <TD><FONT size=\"-1\"><B>Report</B></FONT></TD>\n");
for (i=0; i<24; i++) {
time2epoch(timeadd(ts,i*3600.0),ep);
sprintf(file,REP_FILE,ep[0],ep[1],ep[2],ep[3]);
fprintf(ofp," <TD align=\"right\"><FONT size=\"-1\"><A href=\"../%s\">%02.0fh</A></FONT></TD>\n",
file,ep[3]);
}
fprintf(ofp," </TR>\n");
return 1;
}
/* convert pvt message -------------------------------------------------------*/
static void convpvt(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n)
{
gtime_t time,current;
static gtime_t firsttime={0,0};
double ep[6];
trace(3,"convpvt :\n");
if (!ofp[7]) return;
time=str->pvt->time;
if (!screent(time,opt->ts,opt->te,opt->tint)) return;
if(n[7]==0)
{
current=timeget();
if(timediff(time,current)>86400) return;
firsttime=time;
time2epoch(time,ep);
fprintf(ofp[7], "%04.0f %02.0f %02.0f %02.0f %02.0f %02.6f\n",
ep[0],ep[1],ep[2],ep[3],ep[4],ep[5]);
}
fprintf(ofp[7], "%15.7f %14.3lf %14.3lf %14.3lf %11.3lf %11.3lf %11.3lf",
timediff(time,firsttime), str->pvt->pos[0], str->pvt->pos[1], str->pvt->pos[2],
str->pvt->vel[0], str->pvt->vel[1], str->pvt->vel[2]);
fprintf(ofp[7],"\n");
if (opt->tstart.time==0) opt->tstart=time;
opt->tend=time;
n[7]++;
}
/* epoch2time(),time2epoch() */
void utest3(void)
{
double ep0[]={1980, 1, 6, 0, 0, 0.000000};
double ep1[]={2004, 2,28, 2, 0,59.999999};
double ep2[]={2004, 2,29, 2, 0,30.000000};
double ep3[]={2004,12,31,23,59,59.999999};
double ep4[]={2037,10, 1, 0, 0, 0.000000};
int year,month,day,mday[]={31,28,31,30,31,30,31,31,30,31,30,31};
gtime_t t;
double ep[6];
t=epoch2time(ep0); time2epoch(t,ep);
assert(ep[0]==1980&&ep[1]==1&&ep[2]==6&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
t=epoch2time(ep1); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==2&&ep[2]==28&&ep[3]==2&&ep[4]==0&&fabs(ep[5]-59.999999)<1E-14);
t=epoch2time(ep2); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==2&&ep[2]==29&&ep[3]==2&&ep[4]==0&&ep[5]==30.0);
t=epoch2time(ep3); time2epoch(t,ep);
assert(ep[0]==2004&&ep[1]==12&&ep[2]==31&&ep[3]==23&&ep[4]==59&&fabs(ep[5]-59.999999)<1E-14);
t=epoch2time(ep4); time2epoch(t,ep);
assert(ep[0]==2037&&ep[1]==10&&ep[2]==1&&ep[3]==0&&ep[4]==0&&ep[5]==0.0);
for (year=1970;year<=2037;year++) {
mday[1]=year%4==0?29:28;
for (month=1;month<=12;month++) {
for (day=1;day<=mday[month-1];day++) {
if (year==1970&&month==1&&day==1) continue;
ep0[0]=year; ep0[1]=month; ep0[2]=day;
t=epoch2time(ep0); time2epoch(t,ep);
/* fprintf(stderr,"ep=%.0f %2.0f %2.0f : %.0f %2.0f %2.0f\n",
ep0[0],ep0[1],ep0[2],ep[0],ep[1],ep[2]); */
assert(ep[0]==ep0[0]&&ep[1]==ep0[1]&&ep[2]==ep0[2]);
assert(ep[3]==0.0&&ep[4]==0.0&&ep[5]==0.0);
}
}
}
printf("%s utset3 : OK\n",__FILE__);
}
/* single-point positioning ----------------------------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
* with pseudorange and doppler observables
* args : obsd_t *obs I observation data
* int n I number of observation data
* nav_t *nav I navigation data
* prcopt_t *opt I processing options
* sol_t *sol IO solution
* double *azel IO azimuth/elevation angle (rad) (NULL: no output)
* ssat_t *ssat IO satellite status (NULL: no output)
* char *msg O error message for error exit
* return : status(1:ok,0:error)
* notes : assuming sbas-gps, galileo-gps, qzss-gps, compass-gps time offset and
* receiver bias are negligible (only involving glonass-gps time offset
* and receiver bias)
*-----------------------------------------------------------------------------*/
extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg)
{
prcopt_t opt_=*opt;
double *rs,*dts,*var,*azel_,*resp;
int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
double ep[6], ep2[6];
output = fopen("solution_log.txt", "a");
fprintf(output, "\nBegin solution in single point positioning mode\n");
fprintf(output, " Input observaton data:\n");
for(i = 0; i < n; i++)
{
time2epoch(obs[i].time, ep);
fprintf(output, " %i) time: %4.0f/%2.0f/%2.0f %2.0f:%2.0f:%6.4f, sat: %i, code: %i, P1: %f, L1: %f, D1: %f, S1: %f, P2: %f, L2: %f, D2: %f, S2: %f\n", i+1, ep[0], ep[1], ep[2], ep[3], ep[4], ep[5], obs[i].sat, obs[i].code, obs[i].P[0], obs[i].L[0], obs[i].D[0], obs[i].SNR[0], obs[i].P[1], obs[i].L[1], obs[i].D[1], obs[i].SNR[1]);
}
fprintf(output, " Input GPS ephemeris:\n");
for(i = 0; i < nav->n; i++)
{
time2epoch(nav->eph[i].toe, ep);
time2epoch(nav->eph[i].toc, ep2);
fprintf(output, " %i) sat: %i, IODE: %i, sva: %i, svh: %i, week: %i, toe: %4.0f/%2.0f/%2.0f %2.0f:%2.0f:%6.4f, toc: %4.0f/%2.0f/%2.0f %2.0f:%2.0f:%6.4f, sqrt(A): %f, E: %f, i0: %f, OMG0: %f, omega: %f, M0: %f, delta_n: %f, OMGdot: %f, Idot: %f, Crc: %f, Crs: %f, Cuc: %f, Cus: %f, Cic: %f, Cis: %f, af0: %f, af1: %f, af2: %f, Tgd: %f\n",
i + 1, nav->eph[i].sat, nav->eph[i].iode, nav->eph[i].sva, nav->eph[i].svh, nav->eph[i].week,
ep[0], ep[1], ep[2], ep[3], ep[4], ep[5], ep2[0], ep2[1], ep2[2], ep2[3], ep2[4], ep2[5],
sqrt(nav->eph[i].A), nav->eph[i].e, nav->eph[i].i0, nav->eph[i].OMG0, nav->eph[i].omg, nav->eph[i].M0,
nav->eph[i].deln, nav->eph[i].OMGd, nav->eph[i].idot, nav->eph[i].crc, nav->eph[i].crs,
nav->eph[i].cuc, nav->eph[i].cus, nav->eph[i].cic, nav->eph[i].cis, nav->eph[i].f0,
nav->eph[i].f0, nav->eph[i].f1, nav->eph[i].f2, nav->eph[i].tgd[0]);
}
fprintf(output, " Input GLONASS ephemeris:\n");
for(i = 0; i < nav->ng; i++)
{
time2epoch(nav->geph[i].toe, ep);
fprintf(output, " %i) sat: %i, sva: %i, svh: %i, toe: %4.0f/%2.0f/%2.0f %2.0f:%2.0f:%6.4f, X: %f, Y: %f, Z: %f, VX: %f, VY: %f, VZ: %f, tau_n: %f, gamma_n: %f\n",
i + 1, nav->geph[i].sat, nav->geph[i].sva, nav->geph[i].svh, ep[0], ep[1], ep[2], ep[3], ep[4], ep[5],
nav->geph[i].pos[0], nav->geph[i].pos[1], nav->geph[i].pos[2],
nav->geph[i].vel[0], nav->geph[i].vel[1], nav->geph[i].vel[2], nav->geph[i].taun, nav->geph[i].gamn);
}
sol->stat=SOLQ_NONE;
if (n<=0) {strcpy(msg,"no observation data"); return 0;}
trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
sol->time=obs[0].time; msg[0]='\0';
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
#if 0
opt_.sateph =EPHOPT_BRDC;
#endif
opt_.ionoopt=IONOOPT_BRDC;
opt_.tropopt=TROPOPT_SAAS;
}
/* satellite positons, velocities and clocks */
satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
fprintf(output, " Satellite positions, velocities and clocks:\n");
for(i = 0; i < n; i++)
{
fprintf(output, " sat %i: X = %f, Y = %f, Z = %f, VX = %f, VY = %f, VZ = %f, dt = %f, dt_dot = %f\n", obs[i].sat, rs[i*6], rs[i*6 + 1], rs[i*6 + 2], rs[i*6 + 3], rs[i*6 + 4], rs[i*6 + 5], dts[i*2], dts[i*2 + 1]);
}
/* estimate receiver position with pseudorange */
stat=estpos(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
/* raim fde */
if (!stat&&n>=6&&opt->posopt[4]) {
stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
}
/* estimate receiver velocity with doppler */
if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
if (azel) {
for (i=0;i<n*2;i++) azel[i]=azel_[i];
}
if (ssat) {
for (i=0;i<MAXSAT;i++) {
ssat[i].vs=0;
ssat[i].azel[0]=ssat[i].azel[1]=0.0;
ssat[i].resp[0]=ssat[i].resc[0]=0.0;
ssat[i].snr[0]=0;
}
for (i=0;i<n;i++) {
ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
if (!vsat[i]) continue;
ssat[obs[i].sat-1].vs=1;
ssat[obs[i].sat-1].resp[0]=resp[i];
}
}
free(rs); free(dts); free(var); free(azel_); free(resp);
fprintf(output, "End calculations in single point positioning mode\n");
fclose(output);
output = fopen("cov_matr_single.txt", "a");
time2epoch(sol->time, ep);
fprintf(output, "%4.0f/%2.0f/%2.0f %2.0f:%2.0f:%2.4f coords: %f %f %f %f %f %f velocities: %f %f %f %f %f %f\n", ep[0], ep[1], ep[2], ep[3], ep[4], ep[5], sol->qr[0], sol->qr[3], sol->qr[5], sol->qr[1], sol->qr[4], sol->qr[2], sol->qvr[0], sol->qvr[3], sol->qvr[5], sol->qvr[1], sol->qvr[4], sol->qvr[2]);
fclose(output);
return stat;
}
/* generate data qc page -----------------------------------------------------*/
static int gen_page3(gtime_t time, const char *temp, const char *page)
{
FILE *ifp,*ofp;
gtime_t ts,te;
double ep[6],hour[24],mp1[MAXSTA][24]= {{0}},mp2[MAXSTA][24]= {{0}};
double slip[MAXSTA][24]= {{0}},val1[MAXSTA],val2[MAXSTA],val3[MAXSTA];
char buff[1024],file[1024],*sta[MAXSTA],str[MAXSTA][32];
int i,j,n,nsta=0,sec=0;
ts=timeadd(time,-90000.0);
te=timeadd(time, -3600.0);
for (i=0; i<MAXSTA; i++) sta[i]=str[i];
for (i=0; i<24; i++) {
time2epoch(timeadd(ts,i*3600.0),ep);
sprintf(file,QC_FILE,ep[0],ep[1],ep[2],ep[3]);
if (!(n=read_qc(file,sta,val1,val2,val3))) continue;
for (j=0; j<n; j++) {
mp1 [j][i]=val1[j];
mp2 [j][i]=val2[j];
slip[j][i]=val3[j];
}
hour[i]=ep[3];
nsta=n;
}
if (!(ifp=fopen(temp,"r"))) {
fprintf(stderr,"file open error: %s\n",temp);
return 0;
}
if (!(ofp=fopen(page,"w"))) {
fprintf(stderr,"file open error: %s\n",page);
fclose(ifp);
return 0;
}
while (fgets(buff,sizeof(buff),ifp)) {
if (strstr(buff,"@DATE START" )) sec=1;
else if (strstr(buff,"@TABLE0 START")) sec=2;
else if (strstr(buff,"@TABLE1 START")) sec=3;
else if (strstr(buff,"@TABLE2 START")) sec=4;
else if (strstr(buff,"@DATE END" )) sec=0;
else if (strstr(buff,"@TABLE0 END" )) sec=0;
else if (strstr(buff,"@TABLE1 END" )) sec=0;
else if (strstr(buff,"@TABLE2 END" )) sec=0;
switch (sec) {
case 0:
fputs(buff,ofp);
break;
case 1:
out_date(ofp,ts,te);
break;
case 2:
out_table1(ofp,sta,nsta,hour,mp1 ,3);
break;
case 3:
out_table1(ofp,sta,nsta,hour,mp2 ,3);
break;
case 4:
out_table1(ofp,sta,nsta,hour,slip,0);
break;
}
}
fclose(ifp);
fclose(ofp);
return 1;
}
