From 272e805638406bbda359eb65f9621d4d11b2cc07 Mon Sep 17 00:00:00 2001 From: Zilog80 Date: Thu, 29 Oct 2015 17:04:40 +0100 Subject: [PATCH] GPS ephemeris --- rs92/almanac.sem.week0843.061440.txt | 282 +++ rs92/brdc2910.15n | 3376 ++++++++++++++++++++++++++ rs92/gps_navdata.c | 198 ++ rs92/nav_gps.c | 836 +++++++ rs92/nga18670.Z | Bin 0 -> 461519 bytes 5 files changed, 4692 insertions(+) create mode 100644 rs92/almanac.sem.week0843.061440.txt create mode 100644 rs92/brdc2910.15n create mode 100644 rs92/gps_navdata.c create mode 100644 rs92/nav_gps.c create mode 100644 rs92/nga18670.Z diff --git a/rs92/almanac.sem.week0843.061440.txt b/rs92/almanac.sem.week0843.061440.txt new file mode 100644 index 0000000..aaa0371 --- /dev/null +++ b/rs92/almanac.sem.week0843.061440.txt @@ -0,0 +1,282 @@ +31 CURRENT.ALM + 843 61440 + +1 +63 +0 + 4.76169586181641E-03 6.42013549804688E-03 -2.50292941927910E-09 + 5.15360498046875E+03 5.49559831619263E-01 1.56480073928833E-01 + 9.42617654800415E-01 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0.815100000000D+05 0.400000000000D+01 0.000000000000D+00 0.000000000000D+00 +20 15 10 18 23 59 44.0 0.364187639207D-03 0.295585778076D-11 0.000000000000D+00 + 0.200000000000D+01-0.130937500000D+02 0.565130682818D-08 0.181856298940D+01 + -0.717118382454D-06 0.497402949259D-02 0.676512718201D-05 0.515365045547D+04 + 0.863840000000D+05-0.484287738800D-07 0.268994442769D+01-0.117346644402D-06 + 0.926445979085D+00 0.231718750000D+03 0.124813572819D+01-0.851535469870D-08 + -0.800033324599D-10 0.100000000000D+01 0.186700000000D+04 0.000000000000D+00 + 0.200000000000D+01 0.000000000000D+00-0.838190317154D-08 0.200000000000D+01 + 0.825000000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 +26 15 10 18 23 59 44.0-0.890791416168D-04-0.135287336889D-10 0.000000000000D+00 + 0.250000000000D+02-0.305312500000D+02 0.464090765817D-08-0.194265434253D+01 + -0.151805579662D-05 0.221672351472D-03 0.363774597645D-05 0.515364992332D+04 + 0.863840000000D+05-0.149011611938D-07-0.378864483398D+00 0.875443220139D-07 + 0.960790399200D+00 0.310281250000D+03-0.594029106668D-01-0.836856273168D-08 + -0.975040603812D-10 0.100000000000D+01 0.186700000000D+04 0.000000000000D+00 + 0.200000000000D+01 0.000000000000D+00 0.745058059692D-08 0.250000000000D+02 + 0.792000000000D+05 0.000000000000D+00 0.000000000000D+00 0.000000000000D+00 diff --git a/rs92/gps_navdata.c b/rs92/gps_navdata.c new file mode 100644 index 0000000..e43bd8a --- /dev/null +++ b/rs92/gps_navdata.c @@ -0,0 +1,198 @@ + +/* + (precise) ftp://ftp.nga.mil/pub2/gps/pedata/2015pe/ + (broadcast) ftp://cddis.gsfc.nasa.gov/gnss/data/daily/2015/291/15n/ + (almanac) https://celestrak.com/GPS/almanac/SEM/2015/ +*/ + +#include +#include +#include +#include + + +typedef unsigned char ui8_t; +typedef unsigned short ui16_t; +typedef unsigned int ui32_t; + + +#include "nav_gps.c" + + +int rollover = 0; + +EPHEM_t alm[33]; +EPHEM_t eph[33][24]; + +SAT_t sat_alm[33], sat_eph[33]; + + +int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *sat) { + double X, Y, Z; + int j; + int week; + double cl_corr; + + for (j = 1; j < 33; j++) { + if (alm[j].prn > 0) { // prn==j + + // Woche hat 604800 sec + if (t-alm[j].toa > 604800/2) rollover = +1; + else if (t-alm[j].toa < -604800/2) rollover = -1; + else rollover = 0; + week = alm[j].week - rollover; + + GPS_SatellitePosition_Ephem( + week, t, alm[j], + &cl_corr, &X, &Y, &Z + ); + sat[alm[j].prn].X = X; + sat[alm[j].prn].Y = Y; + sat[alm[j].prn].Z = Z; + sat[alm[j].prn].clock_corr = cl_corr; + } + } + + return 0; +} + +int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *sat) { + + double X, Y, Z; + int j, i, ti; + + int week; + + double cl_corr; + + double tdiff, td; + + for (j = 1; j < 33; j++) { + + // Woche hat 604800 sec + tdiff = 604800; + ti = 0; + for (i = 0; i < 24; i++) { + if (eph[j][i].prn > 0) { + if (t-eph[j][i].toe > 604800/2) rollover = +1; + else if (t-eph[j][i].toe < -604800/2) rollover = -1; + else rollover = 0; + td = t-eph[j][i].toe - rollover*604800; + if (td < 0) td *= -1; + + if ( td < tdiff ) { + tdiff = td; + ti = i; + week = eph[j][ti].week - rollover; + } + } + + } +//printf("prn %02d: ti=%02d (%.1f) td=%.0f\n", eph[j][ti].prn, ti, eph[j][ti].toe, tdiff); + + GPS_SatellitePosition_Ephem( + week, t, eph[j][ti], + &cl_corr, &X, &Y, &Z + ); + sat[eph[j][ti].prn].X = X; + sat[eph[j][ti].prn].Y = Y; + sat[eph[j][ti].prn].Z = Z; + sat[eph[j][ti].prn].clock_corr = cl_corr; + + } + + return 0; +} + + +// ftp://ftp.nga.mil/pub2/gps/pedata/2015pe/ +// nga18670.Z +double precise201510180000[33][5] = { +{ 0, 0, 0, 0, 0 }, +{ 1, -13396.503088, 16970.854595, 15216.330882, 2.582065 }, +{ 2, 14263.732177, 7790.652882, -20685.856689, 593.070368 }, +{ 3, -22205.915807, 13269.761877, -6063.419651, 19.656736 }, +{ 4, -15544.326337, 7438.029201, 19792.978577, -33.725265 }, +{ 5, 23627.784132, 106.951075, -12385.480993, -184.039639 }, +{ 6, 8367.508834, 19482.783055, -16001.912082, 78.618819 }, +{ 7, -5782.726114, 25630.989537, -1813.496023, 482.644186 }, +{ 8, -19787.879341, 183.638881, 17754.688132, -9.097048 }, +{ 9, -1225.647544, 17186.903817, -20217.354165, -1.371448 }, +{ 10, 0.0 , 0.0 , 0.0 , 0.0 }, +{ 11, -12853.596170, 12708.409923, 18888.524237, -610.793350 }, +{ 12, 23820.802471, -10798.624959, -4014.469346, 337.713996 }, +{ 13, 21434.480084, 10098.136853, 11762.516964, -157.494119 }, +{ 14, -12538.553468, -21293.861893, 10189.913434, 27.512184 }, +{ 15, 19603.561444, -2247.081455, 17828.390890, -277.380526 }, +{ 16, -23375.226825, -1510.183240, -12951.652156, -75.480117 }, +{ 17, 13408.271049, 20849.320095, 10129.984029, -191.301863 }, +{ 18, 5861.005813, -18014.778495, 19020.343167, 443.988849 }, +{ 19, -8773.575811, 12151.257210, 21698.223212, -521.650415 }, +{ 20, 23127.215192, -12950.317089, 2099.622700, 363.931244 }, +{ 21, 1813.458929, -26280.230144, 2143.997113, -487.414006 }, +{ 22, -8635.568795, -13798.497369, 21236.345578, 401.853309 }, +{ 23, -14247.163389, 7838.405009, -20901.923478, -139.410012 }, +{ 24, 14174.752473, -14458.950599, 17069.494892, -6.485548 }, +{ 25, 14660.477315, -16439.358633, -14817.632013, -53.973420 }, +{ 26, -16096.651504, -8238.053093, -19457.243197, -87.913428 }, +{ 27, -22869.968612, -10311.018093, 8885.997685, 28.370732 }, +{ 28, 3626.507040, 14437.082373, 22625.094407, 475.137362 }, +{ 29, 4371.948677, -15366.892825, -21211.068149, 640.063249 }, +{ 30, 925.779039, 24924.887332, 9010.767707, 42.751461 }, +{ 31, -8154.144932, -18631.120730, -16764.082274, 298.816917 }, +{ 32, -25500.564581, 4246.936140, 4608.443236, -11.160977 }}; + + +int main(int argc, char *argv[]) { + + FILE *fp_sem, *fp_eph; + + unsigned gpstime = 0; + double lat, lon, h; + int j; + + + gpstime = 0; // passend zu den precise-Daten + fp_sem = fopen("almanac.sem.week0843.061440.txt", "r"); + //fp_eph = fopen("hour2910.15n", "r"); + fp_eph = fopen("brdc2910.15n", "r"); + + read_SEMalmanac(fp_sem, alm); + calc_satpos_alm(alm, gpstime/1000.0, sat_alm); + + read_RNXephemeris(fp_eph, eph); + calc_satpos_rnx(eph, gpstime/1000.0, sat_eph); + + printf("gpstime/s: %.1f\n", gpstime/1000.0); + printf("\n"); + + for (j = 1; j < 33; j++) { + + printf(" %2d: ", j); + printf("( %12.1f , %12.1f , %12.1f ) ", precise201510180000[j][1]*1000.0, precise201510180000[j][2]*1000.0, precise201510180000[j][3]*1000.0); + ecef2elli(precise201510180000[j][1]*1000.0, precise201510180000[j][2]*1000.0, precise201510180000[j][3]*1000.0, &lat, &lon, &h); + printf(" lat: %10.6f , lon: %11.6f , h: %11.2f\n", lat, lon, h); + + printf(" %2d: ", j); + printf("( %12.1f , %12.1f , %12.1f ) ", sat_eph[j].X, sat_eph[j].Y, sat_eph[j].Z); + ecef2elli(sat_eph[j].X, sat_eph[j].Y, sat_eph[j].Z, &lat, &lon, &h); + printf(" lat: %10.6f , lon: %11.6f , h: %11.2f", lat, lon, h); + printf(" ; delta = %.1f\n", dist(sat_eph[j].X, sat_eph[j].Y, sat_eph[j].Z, precise201510180000[j][1]*1000.0, precise201510180000[j][2]*1000.0, precise201510180000[j][3]*1000.0)); + + printf(" %2d: ", j); + printf("( %12.1f , %12.1f , %12.1f ) ", sat_alm[j].X, sat_alm[j].Y, sat_alm[j].Z); + ecef2elli(sat_alm[j].X, sat_alm[j].Y, sat_alm[j].Z, &lat, &lon, &h); + printf(" lat: %10.6f , lon: %11.6f , h: %11.2f", lat, lon, h); + printf(" ; delta = %.1f\n", dist(sat_eph[j].X, sat_eph[j].Y, sat_eph[j].Z, sat_alm[j].X, sat_alm[j].Y, sat_alm[j].Z)); + + printf("\n"); + } + + + fclose(fp_sem); + fclose(fp_eph); + + return 0; +} + + diff --git a/rs92/nav_gps.c b/rs92/nav_gps.c new file mode 100644 index 0000000..47c8815 --- /dev/null +++ b/rs92/nav_gps.c @@ -0,0 +1,836 @@ + +/* + Quellen: + - IS-GPS-200H (bis C: ICD-GPS-200): + http://www.gps.gov/technical/icwg/ + - Borre: http://kom.aau.dk/~borre + - Essential GNSS Project (hier und da etwas unklar) +*/ + + +#define PI (3.1415926535897932384626433832795) + +#define RELATIVISTIC_CLOCK_CORRECTION (-4.442807633e-10) // combined constant defined in IS-GPS-200 [s]/[sqrt(m)] +#define GRAVITY_CONSTANT (3.986005e14) // gravity constant defined on IS-GPS-200 [m^3/s^2] +#define EARTH_ROTATION_RATE (7.2921151467e-05) // IS-GPS-200 [rad/s] +#define SECONDS_IN_WEEK (604800.0) // [s] +#define LIGHTSPEED (299792458.0) // light speed constant defined in IS-GPS-200 [m/s] + +#define RANGE_ESTIMATE_IN_SEC (0.072) // approx. GPS-Sat range 0.072s*299792458m/s=21585057m + +#define EARTH_a (6378137.0) +#define EARTH_b (6356752.31424518) +#define EARTH_a2_b2 (EARTH_a*EARTH_a - EARTH_b*EARTH_b) + +/* ---------------------------------------------------------------------------------------------------- */ + + +void ecef2elli(double X, double Y, double Z, double *lat, double *lon, double *alt) { + double ea2 = EARTH_a2_b2 / (EARTH_a*EARTH_a), + eb2 = EARTH_a2_b2 / (EARTH_b*EARTH_b); + double phi, lam, R, p, t; + double sint, cost; + + lam = atan2( Y , X ); + + p = sqrt( X*X + Y*Y ); + t = atan2( Z*EARTH_a , p*EARTH_b ); + + sint = sin(t); + cost = cos(t); + + phi = atan2( Z + eb2 * EARTH_b * sint*sint*sint , + p - ea2 * EARTH_a * cost*cost*cost ); + + R = EARTH_a / sqrt( 1 - ea2*sin(phi)*sin(phi) ); + *alt = p / cos(phi) - R; + + *lat = phi*180.0/PI; + *lon = lam*180.0/PI; +} + + +double dist(double X1, double Y1, double Z1, double X2, double Y2, double Z2) { + return sqrt( (X2-X1)*(X2-X1) + (Y2-Y1)*(Y2-Y1) + (Z2-Z1)*(Z2-Z1) ); +} + + +void rotZ(double x1, double y1, double z1, double angle, double *x2, double *y2, double *z2) { + double cosa = cos(angle); + double sina = sin(angle); + *x2 = cosa * x1 + sina * y1; + *y2 = -sina * x1 + cosa * y1; + *z2 = z1; +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +typedef struct { + ui16_t prn; + ui16_t week; + ui32_t toa; + char epoch[15]; + double toe; + double toc; + double e; + double delta_n; + double delta_i; + double i0; + double OmegaDot; + double sqrta; + double Omega0; + double w; + double M0; + double tgd; + double idot; + double cuc; + double cus; + double crc; + double crs; + double cic; + double cis; + double af0; + double af1; + double af2; + int gpsweek; + ui16_t svn; + ui8_t ura; + ui8_t health; + ui8_t conf; +} EPHEM_t; + +typedef struct { + ui32_t t; + double pseudorange; + double clock_corr; + double X; + double Y; + double Z; +} SAT_t; + + +/* ---------------------------------------------------------------------------------------------------- */ + + +int read_SEMalmanac(FILE *fp, EPHEM_t *alm) { + int l, j; + char buf[64]; + unsigned n, week, toa, ui; + double dbl; + + l = fscanf(fp, "%u", &n); if (l != 1) return -1; + l = fscanf(fp, "%s", buf); if (l != 1) return -1; + l = fscanf(fp, "%u", &week); if (l != 1) return -1; + l = fscanf(fp, "%u", &toa); if (l != 1) return -1; + + for (j = 1; j <= n; j++) { + //memset(&ephem, 0, sizeof(ephem)); + + alm[j].week = (ui16_t)week; + alm[j].toa = (ui32_t)toa; + alm[j].toe = (double)toa; + alm[j].toc = alm[j].toe; + + l = fscanf(fp, "%u", &ui); if (l != 1) return -1; alm[j].prn = (ui16_t)ui; + l = fscanf(fp, "%u", &ui); if (l != 1) return -2; alm[j].svn = (ui16_t)ui; + l = fscanf(fp, "%u", &ui); if (l != 1) return -3; alm[j].ura = (ui8_t)ui; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -4; alm[j].e = dbl; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -5; alm[j].delta_i = dbl; + alm[j].i0 = (0.30 + alm[j].delta_i) * PI; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -6; alm[j].OmegaDot = dbl * PI; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -7; alm[j].sqrta = dbl; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -6; alm[j].Omega0 = dbl * PI; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -8; alm[j].w = dbl * PI; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -9; alm[j].M0 = dbl * PI; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -10; alm[j].af0 = dbl; + l = fscanf(fp, "%lf", &dbl); if (l != 1) return -11; alm[j].af1 = dbl; + alm[j].af2 = 0; + alm[j].crc = 0; + alm[j].crs = 0; + alm[j].cuc = 0; + alm[j].cus = 0; + alm[j].cic = 0; + alm[j].cis = 0; + alm[j].tgd = 0; + alm[j].idot = 0; + alm[j].delta_n = 0; + l = fscanf(fp, "%u", &ui); if (l != 1) return -12; alm[j].health = (ui8_t)ui; + l = fscanf(fp, "%u", &ui); if (l != 1) return -13; alm[j].conf = (ui8_t)ui; + } + + return 0; +} + +int read_RNXephemeris(FILE *fp, EPHEM_t eph[][24]) { + int l, i; + char buf[64], str[20]; + char buf_header[81]; + //buf_data[80]; // 3 + 4*19 = 79 + unsigned ui; + double dbl; + int c; + EPHEM_t ephem = {}; + int hr = 0; + + do { + l = fread(buf_header, 81, 1, fp); // besser fgets()? was wenn \r\n? fopen in textmode + buf_header[80] = '\0'; // \n durch \0 ueberschreiben + } while ( l == 1 && !strstr(buf_header, "END OF HEADER") ); + if (l != 1) return -1; + + //l = fread(buf_data, 80, 1, fp); + //buf_data[79] = '\0'; + + + while (hr < 24) { + + //memset(&ephem, 0, sizeof(ephem)); + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; sscanf(buf, "%d", &ui); + ephem.prn = ui; + + + for (i = 0; i < 14; i++) ephem.epoch[i] = '0'; + ephem.epoch[14] = '\0'; + + l = fread(buf, 19, 1, fp); if (l != 1) break; buf[19] = 0; + strncpy(ephem.epoch , "20", 2); + + for (i = 0; i < 6; i++) { + c = buf[3*i ]; if (c == ' ') c = '0'; str[2*i ] = c; + c = buf[3*i+1]; if (c == ' ') c = '0'; str[2*i+1] = c; + } + str[12] = buf[17]; + str[13] = buf[18]; + str[14] = '\0'; + + strncpy(ephem.epoch, str, 15); + + strncpy(str, buf+9, 2); str[2] = '\0'; + hr = atoi(str); + + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.af0 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.af1 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.af2 = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iode = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crs = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.delta_n = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.M0 = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cuc = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.e = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cus = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.sqrta = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.toe = dbl; + ephem.toc = ephem.toe; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cic = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.Omega0 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.cis = dbl; + if ((c=fgetc(fp)) == EOF) break; //if (c != 0x0a) printf("%c", c); + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.i0 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.crc = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.w = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.OmegaDot = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.idot = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.codeL2 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.gpsweek = (int)dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.sva = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.svh = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); ephem.tgd = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.iodc = dbl; + if ((c=fgetc(fp)) == EOF) break; + + l = fread(buf, 3, 1, fp); if (l != 1) break; buf[ 3] = 0; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.ttom = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.fit = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.spare1 = dbl; + l = fread(buf, 19, 1, fp); if (l != 1) break; if (buf[15] == 'D') buf[15] = 'E'; buf[19] = 0; sscanf(buf, "%lf", &dbl); //ephem.spare2 = dbl; + if ((c=fgetc(fp)) == EOF) break; + + ephem.week = 1; // ephem.gpsweek + eph[ephem.prn][hr] = ephem; + + } + + return 0; +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +void GPS_SatelliteClockCorrection( + const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks] + const double transmission_gpstow, // GPS time of week when signal was transmit [s] + const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks] + const double toe, // ephemeris: time of week [s] + const double toc, // ephemeris: clock reference time of week [s] + const double af0, // ephemeris: polynomial clock correction coefficient [s], + const double af1, // ephemeris: polynomial clock correction coefficient [s/s], + const double af2, // ephemeris: polynomial clock correction coefficient [s/s^2] + const double ecc, // ephemeris: eccentricity of satellite orbit [] + const double sqrta, // ephemeris: square root of the semi-major axis of orbit [m^(1/2)] + const double delta_n, // ephemeris: mean motion difference from computed value [rad] + const double m0, // ephemeris: mean anomaly at reference time [rad] + const double tgd, // ephemeris: group delay differential between L1 and L2 [s] + double* clock_correction ) // ephemeris: satellite clock correction [m] +{ + int j; + + double tot; // time of transmission (including gps week) [s] + double tk; // time from ephemeris reference epoch [s] + double tc; // time from clock reference epoch [s] + double d_tr; // relativistic correction term [s] + double d_tsv; // SV PRN code phase time offset [s] + double a; // semi-major axis of orbit [m] + double n; // corrected mean motion [rad/s] + double M; // mean anomaly, [rad] + double E; // eccentric anomaly [rad] + + // compute the times from the reference epochs + tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow; + tk = tot - (ephem_week*SECONDS_IN_WEEK + toe); + tc = tot - (ephem_week*SECONDS_IN_WEEK + toc); + + // compute the corrected mean motion term + a = sqrta*sqrta; + n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // mean motion + n += delta_n; // corrected mean motion + + // Kepler-Gleichung M = E - e sin(E) + M = m0 + n*tk; // mean anomaly + E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1, + for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1. + E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k) + } // konvergiert langsam gegen E_0 = f(E_0) + + // relativistic correction + d_tr = RELATIVISTIC_CLOCK_CORRECTION * ecc * sqrta * sin(E); // [s] + d_tr *= LIGHTSPEED; + + // clock correcton + d_tsv = af0 + af1*tc + af2*tc*tc; // [s] + + // L1 only + d_tsv -= tgd; // [s] + + // clock correction + *clock_correction = d_tsv*LIGHTSPEED + d_tr; // [m] + +} + + +void GPS_ComputeSatellitePosition( + const unsigned short transmission_gpsweek, // GPS week when signal was transmit (0-1024+) [weeks] + const double transmission_gpstow, // GPS time of week when signal was transmit [s] + const unsigned short ephem_week, // ephemeris: GPS week (0-1024+) [weeks] + const double toe, // ephemeris: time of week [s] + const double m0, // ephemeris: mean anomaly at reference time [rad] + const double delta_n, // ephemeris: mean motion difference from computed value [rad] + const double ecc, // ephemeris: eccentricity [] + const double sqrta, // ephemeris: square root of the semi-major axis [m^(1/2)] + const double omega0, // ephemeris: longitude of ascending node of orbit plane at weekly epoch [rad] + const double i0, // ephemeris: inclination angle at reference time [rad] + const double w, // ephemeris: argument of perigee [rad] + const double omegadot, // ephemeris: rate of right ascension [rad/s] + const double idot, // ephemeris: rate of inclination angle [rad/s] + const double cuc, // ephemeris: cos harmonic correction term to the argument of latitude [rad] + const double cus, // ephemeris: sin harmonic correction term to the argument of latitude [rad] + const double crc, // ephemeris: cos harmonic correction term to the orbit radius [m] + const double crs, // ephemeris: sin harmonic correction term to the orbit radius [m] + const double cic, // ephemeris: cos harmonic correction term to the angle of inclination [rad] + const double cis, // ephemeris: sin harmonic correction term to the angle of inclination [rad] + double* x, // satellite x [m] + double* y, // satellite y [m] + double* z ) // satellite z [m] +{ + int j; + + double tot; // time of transmission (including gps week) [s] + double tk; // time from ephemeris reference epoch [s] + double a; // semi-major axis of orbit [m] + double n; // corrected mean motion [rad/s] + double M; // mean anomaly, [rad] + double E; // eccentric anomaly [rad] + double v; // true anomaly [rad] + double u; // argument of latitude, corrected [rad] + double r; // radius in the orbital plane [m] + double i; // orbital inclination [rad] + double cos2u; // cos(2*u) [] + double sin2u; // sin(2*u) [] + double d_u; // argument of latitude correction [rad] + double d_r; // radius correction [m] + double d_i; // inclination correction [rad] + double x_op; // x position in the orbital plane [m] + double y_op; // y position in the orbital plane [m] + double omegak; // corrected longitude of the ascending node [rad] + double cos_omegak; // cos(omegak) + double sin_omegak; // sin(omegak) + double cosu; // cos(u) + double sinu; // sin(u) + double cosi; // cos(i) + double sini; // sin(i) + double cosE; // cos(E) + double sinE; // sin(E) + + + // compute the times from the reference epochs + tot = transmission_gpsweek*SECONDS_IN_WEEK + transmission_gpstow; + tk = tot - (ephem_week*SECONDS_IN_WEEK + toe); + + // compute the corrected mean motion term + a = sqrta*sqrta; + n = sqrt( GRAVITY_CONSTANT / (a*a*a) ); // computed mean motion + n += delta_n; // corrected mean motion + + // Kepler-Gleichung M = E - e sin(E) + M = m0 + n*tk; // mean anomaly + E = M; // f(E) = M + e sin(E) hat Fixpunkt fuer e < 1, + for( j = 0; j < 7; j++ ) { // da |f'(E)|=|e cos(E)|<1. + E = M + ecc * sin(E); // waehle Startwert E_1 = M, E_{k+1} = f(E_k) + } // konvergiert langsam gegen E_0 = f(E_0) + + cosE = cos(E); + sinE = sin(E); + + // true anomaly + v = atan2( (sqrt(1.0 - ecc*ecc)*sinE), (cosE - ecc) ); + // argument of latitude + u = v + w; + // radius in orbital plane + r = a * (1.0 - ecc * cos(E)); + // orbital inclination + i = i0; + + // second harmonic perturbations + // + cos2u = cos(2.0*u); + sin2u = sin(2.0*u); + // argument of latitude correction + d_u = cuc * cos2u + cus * sin2u; + // radius correction + d_r = crc * cos2u + crs * sin2u; + // correction to inclination + d_i = cic * cos2u + cis * sin2u; + + // corrected argument of latitude + u += d_u; + // corrected radius + r += d_r; + // corrected inclination + i += d_i + idot * tk; + + // positions in orbital plane + cosu = cos(u); + sinu = sin(u); + x_op = r * cosu; + y_op = r * sinu; + + + omegak = omega0 + omegadot*tk - EARTH_ROTATION_RATE*(tk + toe); + // fuer Bestimmung der Satellitenposition in ECEF, range=0; + // fuer GPS-Loesung (Sats in ECI) Erdrotation hinzuziehen: + // rotZ(EARTH_ROTATION_RATE*0.072), 0.072s*299792458m/s=21585057m + + // compute the WGS84 ECEF coordinates, + // vector r with components x & y is now rotated using, R3(-omegak)*R1(-i) + cos_omegak = cos(omegak); + sin_omegak = sin(omegak); + cosi = cos(i); + sini = sin(i); + + *x = x_op * cos_omegak - y_op * sin_omegak * cosi; + *y = x_op * sin_omegak + y_op * cos_omegak * cosi; + *z = y_op * sini; + +} + + +void GPS_SatellitePosition_Ephem( + const unsigned short gpsweek, // gps week of signal transmission (0-1024+) [week] + const double gpstow, // time of week of signal transmission (gpstow-psr/c) [s] + EPHEM_t ephem, + double* clock_correction, // clock correction for this satellite for this epoch [m] + double* satX, // satellite X position WGS84 ECEF [m] + double* satY, // satellite Y position WGS84 ECEF [m] + double* satZ // satellite Z position WGS84 ECEF [m] + ) +{ + double tow; // user time of week adjusted with the clock corrections [s] + double x; // sat X position [m] + double y; // sat Y position [m] + double z; // sat Z position [m] + unsigned short week; // user week adjusted with the clock correction if needed [week] + + + x = y = z = 0.0; + + GPS_SatelliteClockCorrection( gpsweek, gpstow, + ephem.week, ephem.toe, ephem.toc, ephem.af0, + ephem.af1, ephem.af2, ephem.e, ephem.sqrta, + ephem.delta_n, ephem.M0, ephem.tgd, clock_correction ); + + + // adjust for week rollover + week = gpsweek; + tow = gpstow + (*clock_correction)/LIGHTSPEED; + if ( tow < 0.0 ) { + tow += SECONDS_IN_WEEK; + week--; + } + if ( tow > 604800.0 ) { + tow -= SECONDS_IN_WEEK; + week++; + } + + //range = 0.072s*299792458m/s=21585057m + GPS_ComputeSatellitePosition( week, tow, + ephem.week, ephem.toe, ephem.M0, ephem.delta_n, ephem.e, ephem.sqrta, + ephem.Omega0, ephem.i0, ephem.w, ephem.OmegaDot, ephem.idot, + ephem.cuc, ephem.cus, ephem.crc, ephem.crs, ephem.cic, ephem.cis, + &x, &y, &z ); + + *satX = x; + *satY = y; + *satZ = z; + +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +int NAV_ClosedFormPositionSolution_FromPseudorange( + SAT_t sat1, SAT_t sat2, SAT_t sat3, SAT_t sat4, + double* latitude, // ellipsoid latitude [rad] + double* longitude, // ellipsoid longitude [rad] + double* height, // ellipsoid height [m] + double* rx_clock_bias, // receiver clock bias [m] + double pos_ecef[3] ) // ECEF coordinates [m] +{ + + double p1 = sat1.pseudorange + sat1.clock_corr; // pseudorange measurement + clock correction [m] + double p2 = sat2.pseudorange + sat2.clock_corr; + double p3 = sat3.pseudorange + sat3.clock_corr; + double p4 = sat4.pseudorange + sat4.clock_corr; + + double x1, y1, z1; // Sat1 ECEF + double x2, y2, z2; // Sat2 ECEF + double x3, y3, z3; // Sat3 ECEF + double x4, y4, z4; // Sat4 ECEF + + // Erdrotation ECEF-ECI, 0.070s*299792458m/s=20985472m, 0.072s*299792458m/s=21585057m + rotZ(sat1.X, sat1.Y, sat1.Z, EARTH_ROTATION_RATE*RANGE_ESTIMATE_IN_SEC, &x1, &y1, &z1); + rotZ(sat2.X, sat2.Y, sat2.Z, EARTH_ROTATION_RATE*RANGE_ESTIMATE_IN_SEC, &x2, &y2, &z2); + rotZ(sat3.X, sat3.Y, sat3.Z, EARTH_ROTATION_RATE*RANGE_ESTIMATE_IN_SEC, &x3, &y3, &z3); + rotZ(sat4.X, sat4.Y, sat4.Z, EARTH_ROTATION_RATE*RANGE_ESTIMATE_IN_SEC, &x4, &y4, &z4); + + + double x12, x13, x14; // 'xij' = 'xi' - 'xj' [m] + double y12, y13, y14; + double z12, z13, z14; + double p21, p31, p41; // 'pij' = 'pi' - 'pj' [m] + + double k1, k2, k3; // coefficients + double c1, c2, c3; + double f1, f2, f3; + double m1, m2, m3; + + double d1; // clock bias, solution 1 [m] + double d2; // clock bias, solution 2 [m] + double detA; // determinant of A + double tmp1; + double tmp2; + double tmp3; + + double A[3][3]; + double D[3][3]; // D is A^-1 * detA + + typedef struct { + double x; + double y; + double z; + } struct_SOLN; + + struct_SOLN s1; + struct_SOLN s2; + + struct_SOLN stmp; + double dtmp; + double x0, y0, z0; + double latS, lonS, altS, + lat1, lon1, alt1, + lat2, lon2, alt2; + double d2_1, d2_2; + + + x12 = x1 - x2; + x13 = x1 - x3; + x14 = x1 - x4; + + y12 = y1 - y2; + y13 = y1 - y3; + y14 = y1 - y4; + + z12 = z1 - z2; + z13 = z1 - z3; + z14 = z1 - z4; + + p21 = p2 - p1; + p31 = p3 - p1; + p41 = p4 - p1; + + k1 = x12*x12 + y12*y12 + z12*z12 - p21*p21; + k2 = x13*x13 + y13*y13 + z13*z13 - p31*p31; + k3 = x14*x14 + y14*y14 + z14*z14 - p41*p41; + + A[0][0] = 2.0*x12; + A[1][0] = 2.0*x13; + A[2][0] = 2.0*x14; + + A[0][1] = 2.0*y12; + A[1][1] = 2.0*y13; + A[2][1] = 2.0*y14; + + A[0][2] = 2.0*z12; + A[1][2] = 2.0*z13; + A[2][2] = 2.0*z14; + + tmp1 = A[1][1]*A[2][2] - A[2][1]*A[1][2]; + tmp2 = A[1][0]*A[2][2] - A[2][0]*A[1][2]; + tmp3 = A[1][0]*A[2][1] - A[2][0]*A[1][1]; + + detA = A[0][0]*tmp1 - A[0][1]*tmp2 + A[0][2]*tmp3; + + D[0][0] = tmp1; + D[1][0] = -tmp2; + D[2][0] = tmp3; + + D[0][1] = -A[0][1]*A[2][2] + A[2][1]*A[0][2]; + D[1][1] = A[0][0]*A[2][2] - A[2][0]*A[0][2]; + D[2][1] = -A[0][0]*A[2][1] + A[2][0]*A[0][1]; + + D[0][2] = A[0][1]*A[1][2] - A[1][1]*A[0][2]; + D[1][2] = -A[0][0]*A[1][2] + A[1][0]*A[0][2]; + D[2][2] = A[0][0]*A[1][1] - A[1][0]*A[0][1]; + + c1 = (D[0][0]*p21 + D[0][1]*p31 + D[0][2]*p41) * 2.0 / detA; + c2 = (D[1][0]*p21 + D[1][1]*p31 + D[1][2]*p41) * 2.0 / detA; + c3 = (D[2][0]*p21 + D[2][1]*p31 + D[2][2]*p41) * 2.0 / detA; + + f1 = (D[0][0]*k1 + D[0][1]*k2 + D[0][2]*k3) / detA; + f2 = (D[1][0]*k1 + D[1][1]*k2 + D[1][2]*k3) / detA; + f3 = (D[2][0]*k1 + D[2][1]*k2 + D[2][2]*k3) / detA; + + m1 = c1*c1 + c2*c2 + c3*c3 - 1.0; + m2 = -2.0*( c1*f1 + c2*f2 + c3*f3 ); + m3 = f1*f1 + f2*f2 + f3*f3; + + tmp1 = m2*m2 - 4.0*m1*m3; + if ( tmp1 < 0 ) { // not good, there is no solution + return 0; //FALSE + } + + d1 = ( -m2 - sqrt( tmp1 ) ) * 0.5 / m1; // +-Reihenfolge vertauscht + d2 = ( -m2 + sqrt( tmp1 ) ) * 0.5 / m1; + + // two solutions + s1.x = c1*d1 - f1 + x1; + s1.y = c2*d1 - f2 + y1; + s1.z = c3*d1 - f3 + z1; + + s2.x = c1*d2 - f1 + x1; + s2.y = c2*d2 - f2 + y1; + s2.z = c3*d2 - f3 + z1; + + ecef2elli( s1.x, s1.y, s1.z, &lat1, &lon1, &alt1 ); + + *latitude = lat1; + *longitude = lon1; + *height = alt1; + + tmp1 = sqrt( s1.x*s1.x + s1.y*s1.y + s1.z*s1.z ); + tmp2 = sqrt( s2.x*s2.x + s2.y*s2.y + s2.z*s2.z ); + + // choose the correct solution based + // on whichever solution is closest to + // the Earth's surface + tmp1 = fabs( tmp1 - 6371000.0 ); + tmp2 = fabs( tmp2 - 6371000.0 ); + // geht manchmal schief + // wenn beide Werte nahe Erdoberflaeche + // ungefaehre Position kann aus den Positionen der empfangen Sats abgeleitet werden + if ( tmp2 < tmp1 /*alt2 < alt1 && alt2 > -1500*/ && tmp1 < 60000 ) + { + x0 = (x1+x2+x3+x4)/4.0; + y0 = (y1+y2+y3+y4)/4.0; + z0 = (z1+z2+z3+z4)/4.0; + ecef2elli( x0, y0, z0, &latS, &lonS, &altS ); + + ecef2elli( s2.x, s2.y, s2.z, &lat2, &lon2, &alt2 ); + + d2_1 = sqrt( (latS-lat1)*(latS-lat1) + (lonS-lon1)*(lonS-lon1) ); + d2_2 = sqrt( (latS-lat2)*(latS-lat2) + (lonS-lon2)*(lonS-lon2) ); + + if ( d2_2 < d2_1 ) { + stmp = s1; s1 = s2; s2 = stmp; // s1 = s2; + dtmp = d1; d1 = d2; d2 = dtmp; // d1 = d2; + *latitude = lat2; + *longitude = lon2; + *height = alt2; + } + } + + *rx_clock_bias = d1; + + pos_ecef[0] = s1.x; + pos_ecef[1] = s1.y; + pos_ecef[2] = s1.z; + + if( *height < -1500.0 || *height > 50000.0 ) { + return 0; //FALSE + } + + return 1; //TRUE +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +int matrix_invert(double mat[4][4], double inv[4][4]) +/* selected elements from 4x4 matrox inversion */ +{ + // Find all NECESSARY 2x2 subdeterminants + double Det2_12_01 = mat[1][0] * mat[2][1] - mat[1][1] * mat[2][0]; + double Det2_12_02 = mat[1][0] * mat[2][2] - mat[1][2] * mat[2][0]; + //double Det2_12_03 = mat[1][0]*mat[2][3] - mat[1][3]*mat[2][0]; + double Det2_12_12 = mat[1][1] * mat[2][2] - mat[1][2] * mat[2][1]; + //double Det2_12_13 = mat[1][1]*mat[2][3] - mat[1][3]*mat[2][1]; + //double Det2_12_23 = mat[1][2]*mat[2][3] - mat[1][3]*mat[2][2]; + double Det2_13_01 = mat[1][0] * mat[3][1] - mat[1][1] * mat[3][0]; + //double Det2_13_02 = mat[1][0]*mat[3][2] - mat[1][2]*mat[3][0]; + double Det2_13_03 = mat[1][0] * mat[3][3] - mat[1][3] * mat[3][0]; + //double Det2_13_12 = mat[1][1]*mat[3][2] - mat[1][2]*mat[3][1]; + double Det2_13_13 = mat[1][1] * mat[3][3] - mat[1][3] * mat[3][1]; + //double Det2_13_23 = mat[1][2]*mat[3][3] - mat[1][3]*mat[3][2]; + double Det2_23_01 = mat[2][0] * mat[3][1] - mat[2][1] * mat[3][0]; + double Det2_23_02 = mat[2][0] * mat[3][2] - mat[2][2] * mat[3][0]; + double Det2_23_03 = mat[2][0] * mat[3][3] - mat[2][3] * mat[3][0]; + double Det2_23_12 = mat[2][1] * mat[3][2] - mat[2][2] * mat[3][1]; + double Det2_23_13 = mat[2][1] * mat[3][3] - mat[2][3] * mat[3][1]; + double Det2_23_23 = mat[2][2] * mat[3][3] - mat[2][3] * mat[3][2]; + + // Find all NECESSARY 3x3 subdeterminants + double Det3_012_012 = mat[0][0] * Det2_12_12 - mat[0][1] * Det2_12_02 + mat[0][2] * Det2_12_01; + //double Det3_012_013 = mat[0][0]*Det2_12_13 - mat[0][1]*Det2_12_03 + mat[0][3]*Det2_12_01; + //double Det3_012_023 = mat[0][0]*Det2_12_23 - mat[0][2]*Det2_12_03 + mat[0][3]*Det2_12_02; + //double Det3_012_123 = mat[0][1]*Det2_12_23 - mat[0][2]*Det2_12_13 + mat[0][3]*Det2_12_12; + //double Det3_013_012 = mat[0][0]*Det2_13_12 - mat[0][1]*Det2_13_02 + mat[0][2]*Det2_13_01; + double Det3_013_013 = mat[0][0] * Det2_13_13 - mat[0][1] * Det2_13_03 + mat[0][3] * Det2_13_01; + //double Det3_013_023 = mat[0][0]*Det2_13_23 - mat[0][2]*Det2_13_03 + mat[0][3]*Det2_13_02; + //double Det3_013_123 = mat[0][1]*Det2_13_23 - mat[0][2]*Det2_13_13 + mat[0][3]*Det2_13_12; + //double Det3_023_012 = mat[0][0]*Det2_23_12 - mat[0][1]*Det2_23_02 + mat[0][2]*Det2_23_01; + //double Det3_023_013 = mat[0][0]*Det2_23_13 - mat[0][1]*Det2_23_03 + mat[0][3]*Det2_23_01; + double Det3_023_023 = mat[0][0] * Det2_23_23 - mat[0][2] * Det2_23_03 + mat[0][3] * Det2_23_02; + //double Det3_023_123 = mat[0][1]*Det2_23_23 - mat[0][2]*Det2_23_13 + mat[0][3]*Det2_23_12; + double Det3_123_012 = mat[1][0] * Det2_23_12 - mat[1][1] * Det2_23_02 + mat[1][2] * Det2_23_01; + double Det3_123_013 = mat[1][0] * Det2_23_13 - mat[1][1] * Det2_23_03 + mat[1][3] * Det2_23_01; + double Det3_123_023 = mat[1][0] * Det2_23_23 - mat[1][2] * Det2_23_03 + mat[1][3] * Det2_23_02; + double Det3_123_123 = mat[1][1] * Det2_23_23 - mat[1][2] * Det2_23_13 + mat[1][3] * Det2_23_12; + + // Find the 4x4 determinant + static double det; + det = mat[0][0] * Det3_123_123 + - mat[0][1] * Det3_123_023 + + mat[0][2] * Det3_123_013 + - mat[0][3] * Det3_123_012; + + // Very small determinants probably reflect floating-point fuzz near zero + if (fabs(det) < 0.0001) + return -1; + + inv[0][0] = Det3_123_123 / det; + //inv[0][1] = -Det3_023_123 / det; + //inv[0][2] = Det3_013_123 / det; + //inv[0][3] = -Det3_012_123 / det; + + //inv[1][0] = -Det3_123_023 / det; + inv[1][1] = Det3_023_023 / det; + //inv[1][2] = -Det3_013_023 / det; + //inv[1][3] = Det3_012_023 / det; + + //inv[2][0] = Det3_123_013 / det; + //inv[2][1] = -Det3_023_013 / det; + inv[2][2] = Det3_013_013 / det; + //inv[2][3] = -Det3_012_013 / det; + + //inv[3][0] = -Det3_123_012 / det; + //inv[3][1] = Det3_023_012 / det; + //inv[3][2] = -Det3_013_012 / det; + inv[3][3] = Det3_012_012 / det; + + return 0; +} + + +int calculate_DOP(SAT_t sat0, SAT_t sat1, SAT_t sat2, SAT_t sat3, double pos_ecef[3], double DOP[4][4]) { + int i, j, k; + double norm[4], satpos[4][3]; + double SATS[4][4], AtA[4][4]; + + satpos[0][0] = sat0.X-pos_ecef[0]; + satpos[0][1] = sat0.Y-pos_ecef[1]; + satpos[0][2] = sat0.Z-pos_ecef[2]; + + satpos[1][0] = sat1.X-pos_ecef[0]; + satpos[1][1] = sat1.Y-pos_ecef[1]; + satpos[1][2] = sat1.Z-pos_ecef[2]; + + satpos[2][0] = sat2.X-pos_ecef[0]; + satpos[2][1] = sat2.Y-pos_ecef[1]; + satpos[2][2] = sat2.Z-pos_ecef[2]; + + satpos[3][0] = sat3.X-pos_ecef[0]; + satpos[3][1] = sat3.Y-pos_ecef[1]; + satpos[3][2] = sat3.Z-pos_ecef[2]; + + for (i = 0; i < 4; i++) { + norm[i] = sqrt( satpos[i][0]*satpos[i][0] + satpos[i][1]*satpos[i][1] + satpos[i][2]*satpos[i][2] ); + for (j = 0; j < 3; j++) { + SATS[i][j] = satpos[i][j] / norm[i]; + } + SATS[i][3] = 1; + } + + for (i = 0; i < 4; i++) { + for (j = 0; j < 4; j++) { + AtA[i][j] = 0.0; + for (k = 0; k < 4; k++) { + AtA[i][j] += SATS[k][i]*SATS[k][j]; + } + } + } + + return matrix_invert(AtA, DOP); +} + diff --git a/rs92/nga18670.Z b/rs92/nga18670.Z new file mode 100644 index 0000000000000000000000000000000000000000..64e7f72c8aa1cf1022ade8e3a9e7523497a4b326 GIT binary patch literal 461519 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