gpsfuncs.c

OpenGPSSim是一个gps模拟程序

/* ************************************************************************ 
   *                                                                      *
   *                          GPS Simulation                              *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *    Module:   gpsfuncs.c                                              *
   *                                                                      *
   *   Version:   0.1                                                     *
   *                                                                      *
   *      Date:   17.02.02                                                *
   *                                                                      *
   *    Author:   G. Beyerle                                              *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * Copyright (c) 1996-2001 Clifford Kelley.  All Rights Reserved.       *
   * Copyright (C) 2002-2006 Georg Beyerle                                *
   *                                                                      *
   * This program is free software; you can redistribute it and/or modify *
   * it under the terms of the GNU General Public License as published by *
   * the Free Software Foundation; either version 2 of the License, or    *
   * (at your option) any later version.                                  *
   *                                                                      *
   * This program is distributed in the hope that it will be useful,      *
   * but WITHOUT ANY WARRANTY; without even the implied warranty of       *
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the        *
   * GNU General Public License for more details.                         *
   *                                                                      *
   * You should have received a copy of the GNU General Public License    *
   * along with this program; if not, write to the Free Software          *
   * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.            *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * The files 'gpsfuncs.cpp', 'gpsrcvr.cpp' and 'gp2021.cpp' are modi-   *
   * fied versions of the files with the same name from Clifford Kelley's * 
   * OpenSourceGPS distribution. The unmodified files can be obtained     *
   * from http://www.home.earthlink.net/~cwkelley                         *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *                                GPS receiver                          *
   *                                                                      *
   ************************************************************************ */

/* ******************************* changes ********************************

   dd.mm.yy -

   ************************************************************************ */

/***********************************************************************
  GPS RECEIVER (GPSRCVR) Ver. 1.02
  12 Channel All-in-View GPS Receiver Program based on Mitel GP2021
  chipset
  Clifford Kelley [e-mail]
  Copyright (c) 1996-2001 Clifford Kelley.  All Rights Reserved.
  This LICENSE must be included with the GPSRCVR code.
***********************************************************************/
/*
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:

      CONDITIONS

1. Redistributions of GPSRCVR source code must retain the above copyright
notice, this list of conditions, and the following disclaimer.

2. Redistributions in binary form must contain the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.

3. All modifications to the source code must be clearly marked as
such.  Binary redistributions based on modified source code must be
clearly marked as modified versions in the documentation and/or other
materials provided with the distribution.

4. Notice must be given of the location of the availability of the
unmodified current source code, e.g.,
  http://www.Kelley.com/
or
  ftp://ftp.Kelley.com
in the documentation and/or other materials provided with the
distribution.

5. All advertising and published materials mentioning features or use
of this software must display the following acknowledgment:  "This
product includes software developed by Clifford Kelley and other
contributors."

6. The name of Clifford Kelley may not be used to endorse or promote
products derived from this software without specific prior written
permission.

      DISCLAIMER

This software is provided by Clifford Kelley and contributors "as is" and
any expressed or implied warranties, including, but not limited to, the
implied warranties of merchantability and fitness for a particular
purpose are disclaimed.  In no event shall Clifford Kelley or
contributors be liable for any direct, indirect, incidental, special,
exemplary, or consequential damages (including, but not limited to,
procurement of substitute goods or services; loss of use, data, or
profits; or business interruption) however caused and on any theory of
liability, whether in contract, strict liability, or tort (including
negligence or otherwise) arising in any way out of the use of this
software, even if advised of the possibility of such damage.
*/

/* ------------------------------- includes -------------------------------- */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <math.h>
#ifndef linux
# include <io.h>
#endif

#include "ogsdefine.h"
#include "ogsstructs.h"
#include "ogsextern.h"
#include "ogsprototypes.h"
#include "ogslibrary.h"

/* ------------------------------ prototypes -------------------------------- */

int matherr (struct exception *a);

/* ------------------------------- globals ---------------------------------- */

extern time_t thetime;

/* ------------------------------ functions --------------------------------- */

/*******************************************************************************
FUNCTION bit_test_l()
RETURNS  int

PARAMETERS
    Data
    bit_n

PURPOSE
  This function returns a 1 if bit number bit_n of long Data is set
  else it returns a 0

WRITTEN BY
  Clifford Kelley

*******************************************************************************/

inline int  bit_test_l( unsigned long data, char bit_n)
{
  int result;

  result = 0;
  if (data & test_l[bit_n])
    result = 1;
  return result;
}

/*******************************************************************************
FUNCTION satfind()
RETURNS  None.

PARAMETERS None.

PURPOSE

  THIS FUNCTION DETERMINES THE SATELLITES TO SEARCH FOR
  WHEN ALMANAC DATA IS AVAILABLE

WRITTEN BY
  Clifford Kelley

*******************************************************************************/

SATVIS satfind( char i)
{
  float   ralt, tdot, b, az;
  float   satang, alm_time, almanac_date;
  double  range1, range2, xls, yls, zls, xaz, yaz, xn, yn, zn, xe, ye;
  long    jd_yr;
  ECEF    gpspos1, gpspos2;
  SATVIS  result;
  int     jd_m;
  struct tm *gmt;
  double  time_s;

  static int justonce = 1;

/*
      INITIALIZE ALL THE CONSTANTS
*/
  putenv( tzstr);
  tzset();
//  thetime = time( NULL);          // *** CHECKME ***
  thetime = 1015302770L;
  if ( justonce)
  {
    printf("*** set time to 1015302770 ***\n");
    justonce = 0;
  }  
    
  gmt = gmtime( &thetime);

// set up the correct time
  if (gmt->tm_mon <= 1)
  {
    jd_yr = (long)( 365.25 * (gmt->tm_year - 1. + 1900.));  // GB: (long)() inserted
    jd_m  = (int)( 30.6001 * (gmt->tm_mon+14.));            // GB: (int)() inserted
  }
  else
  {
    jd_yr = (long)( 365.25 * (gmt->tm_year + 1900.));
    jd_m  = (int)( 30.6001 * (gmt->tm_mon+2.));
  }

  time_s = gmt->tm_hour/24. + gmt->tm_min/1440. + gmt->tm_sec/86400. + 
           1720981.5 + jd_yr + jd_m + gmt->tm_mday;

  gps_week     = (int)((time_s - 2444244.5)/7.);

  almanac_date = gps_alm[i].week * 7.0 + 2444244.5;

  if ( gps_week - gps_alm[i].week > 512) 
    almanac_date += 1024*7.0;

  alm_time  = (time_s - almanac_date) * 86400.;
  clock_tow = (long) ((time_s - gps_week*7. - 2444244.5) * 86400.); // GB: inserted cast

/*
      CALCULATE THE POSITION OF THE SATELLITES
*/
  if (gps_alm[i].inc > 0.0 && i>0)
  {
    gpspos1 = satpos_almanac( alm_time,i);
    gpspos2 = satpos_almanac( alm_time+60.0,i);

/*
      CALCULATE THE POSITION OF THE RECEIVER
*/
    rec_pos_xyz = llh_to_ecef(current_loc);
    xn  = -cos( current_loc.lon)*sin( current_loc.lat);
    yn  = -sin( current_loc.lon)*sin( current_loc.lat);
    zn  =  cos( current_loc.lat);
    xe  = -sin( current_loc.lon);
    ye  =  cos( current_loc.lon);

/*
     DETERMINE IF A CLEAR LINE OF SIGHT EXISTS
*/
    xls  = gpspos1.x - rec_pos_xyz.x;
    yls  = gpspos1.y - rec_pos_xyz.y;
    zls  = gpspos1.z - rec_pos_xyz.z;

    range1 = sqrt(xls*xls+yls*yls+zls*zls);
    ralt = sqrt( rec_pos_xyz.x * rec_pos_xyz.x + 
                 rec_pos_xyz.y * rec_pos_xyz.y + 
                 rec_pos_xyz.z * rec_pos_xyz.z);
    tdot = ( rec_pos_xyz.x * xls + 
             rec_pos_xyz.y * yls + 
             rec_pos_xyz.z * zls) / range1 / ralt;
    xls  = xls / range1;
    yls  = yls / range1;
    zls  = zls / range1;

//    range2 = sqrt( pow( gpspos2.x - rec_pos_xyz.x, 2) + 
//                   pow( gpspos2.y - rec_pos_xyz.y, 2) +
//                   pow( gpspos2.z - rec_pos_xyz.z, 2));

    if ( tdot >= 1.00 )
      b = 0.0;
    else if ( tdot <= -1.00 )
      b = pi;
    else
      b = acos( tdot);

    satang = pi/2.0 - b;
    xaz    = xe*xls + ye*yls;
    yaz    = xn*xls + yn*yls + zn*zls;
    if ( xaz != 0.0 || yaz != 0.0) 
      az = atan2( xaz, yaz);
    else 
      az = 0.0;
    result.x = gpspos1.x;
    result.y = gpspos1.y;
    result.z = gpspos1.z;
    result.elevation = satang;
    result.azimuth   = az;
//    result.doppler   = (range1-range2) * 5.2514 / 60.;
    result.doppler   = 0.;                                  // *** CHECKME ***

    static int JustOnce = 1;

    if ( JustOnce)
    {
      printf("sat_find: *** set doppler to zero! ***\n");
      JustOnce = 0;
    }  
//    getchar();
  }
  return result;
}


/*******************************************************************************
FUNCTION satpos_almanac()
RETURNS  None.

PARAMETERS None.

PURPOSE

     THIS SUBROUTINE CALCULATES THE SATELLITE POSITION
     BASED ON ALMANAC DATA
    
     R    - RADIUS OF SATELLITE AT TIME T
     SLAT - SATELLITE LATITUDE
     SLONG- SATELLITE LONGITUDE
     T    - TIME FROM START OF WEEKLY EPOCH
     ETY  - ORBITAL ECCENTRICITY
     TOA  - TIME OF APPLICABILITY FROM START OF WEEKLY EPOCH
     INC  - ORBITAL INCLINATION
     RRA  - RATE OF RIGHT ASCENSION
    SQA  - SQUARE ROOT OF SEMIMAJOR AXIS
     LAN  - LONGITUDE OF NODE AT WEEKLY EPOCH
     AOP  - ARGUMENT OF PERIGEE
    MA   - MEAN ANOMALY AT TOA

WRITTEN BY
  Clifford Kelley

******************************************************************************/

ECEF satpos_almanac( float time, char n)
{
  double ei,ea,diff,r,ta,la,aol,xp,yp,d_toa;
  ECEF result;
/*
      MA IS THE ANGLE FROM PERIGEE AT TOA
*/
  d_toa=time-gps_alm[n].toa;
  if ( d_toa > 302400.0) 
    d_toa = d_toa - 604800.0;
  ei = gps_alm[n].ma + d_toa * gps_alm[n].w;
  ea = ei;
  do
  {
    diff = (ei-(ea-gps_alm[n].ety*sin(ea)))/(1.-gps_alm[n].ety*cos(ea));
    ea   = ea+diff;
  } while ( fabs( diff) > 1.0e-6);
/*
      EA IS THE ECCENTRIC ANOMALY
*/
  if ( gps_alm[n].ety != 0.0 )
    ta = atan2( sqrt(1. - pow(gps_alm[n].ety,2))*sin(ea),cos(ea)-gps_alm[n].ety);
  else
    ta = ea;
/*
      TA IS THE TRUE ANOMALY (ANGLE FROM PERIGEE)
*/
  r = pow( gps_alm[n].sqra,2)*(1.-pow(gps_alm[n].ety,2)*cos(ea));
/*
      R IS THE RADIUS OF SATELLITE ORBIT AT TIME T
*/
  aol = ta + gps_alm[n].w;
/*
    AOL IS THE ARGUMENT OF LATITUDE

    LA IS THE LONGITUDE OF THE ASCENDING NODE
*/
  la = gps_alm[n].omega0 + (gps_alm[n].omegadot-omegae) * d_toa - gps_alm[n].toa * omegae;
  xp = r*cos(aol);
  yp = r*sin(aol);
  result.x = xp*cos(la) - yp*cos(gps_alm[n].inc)*sin(la);
  result.y = xp*sin(la) + yp*cos(gps_alm[n].inc)*cos(la);
  result.z = yp*sin(gps_alm[n].inc);
  return result;
}

/*******************************************************************************
FUNCTION satpos_ephemeris()
RETURNS  None.

PARAMETERS None.

PURPOSE

     THIS SUBROUTINE CALCULATES THE SATELLITE POSITION
     BASED ON BROADCAST EPHEMERIS DATA

     R    - RADIUS OF SATELLITE AT TIME T
     Crc  - RADIUS COSINE CORRECTION TERM
     Crs  - RADIUS SINE   CORRECTION TERM
     SLAT - SATELLITE LATITUDE
     SLONG- SATELLITE LONGITUDE
     TOE  - TIME OF EPHEMERIS FROM START OF WEEKLY EPOCH
     ETY  - ORBITAL INITIAL ECCENTRICITY
     TOA  - TIME OF APPLICABILITY FROM START OF WEEKLY EPOCH
     INC  - ORBITAL INCLINATION
     IDOT - RATE OF INCLINATION ANGLE
     CUC  - ARGUMENT OF LATITUDE COSINE CORRECTION TERM
     CUS  - ARGUMENT OF LATITUDE SINE   CORRECTION TERM
     CIC  - INCLINATION COSINE CORRECTION TERM
     CIS  - INCLINATION SINE   CORRECTION TERM
     RRA  - RATE OF RIGHT ASCENSION
     SQA  - SQUARE ROOT OF SEMIMAJOR AXIS
     LAN  - LONGITUDE OF NODE AT WEEKLY EPOCH
     AOP  - ARGUMENT OF PERIGEE
     MA   - MEAN ANOMALY AT TOA
     DN   - MEAN MOTION DIFFERENCE

WRITTEN BY
  Clifford Kelley