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- rinex文件解析
- 根据广播星历估计卫星位置
- 单点定位
- 差分GPS定位
- rtk定位
- PPP定位
Rinex文件一ASCII码的方式存储, 主要分为4类，
- Observation Data File 观测数据文件
- Navigation Data File 导航数据文件(用于星历计算)
- Meteorological Data File 气象数据文件(用于时间补偿)
文件命名格式 'ssssdddf.yyt'
例如 onsa2240.08o
- ssss 4字符基站名
- ddd 一年的第ddd天
- f 一天内的第f个文件
- yy 年份
- t 文件类型
- o 观测文件
- n 导航文件
- m 气象文件
- g 格罗纳斯导航文件
Rinex文件分为文件头和数据两部分，文件头指明了基本信息，数据段是一条条的观测记录.observation type 观测类型
- C : pseudorange 伪距
- L : carrier phase 载波相位
- D : doppler 多普勒
- S : signal strengh 信号强度
每条观测数据有指明观测类型和频段，主要以下几种
- C1 : C/A码在L1频段的伪距测量
- L1 L2 : 在L1/L2频段的相位测量
- P1 P2 : P码在L1/L2频段的伪距测量
- D1 D2 : 在L1/L2频段的多普勒频率
- T1 T2 : 在150MHz(T1)和400MHz(T2)的传输集成多普勒
数据段的每天观测有记录历元时刻，历元标志，卫星ID等
08 5 27 0 0 0.0000000 0 8G 6G21G29G30G31G 3G24G16 114882249.33248 89518626.24848 21861373.4054 21861376.2644 21861373.5894 238.000 204.000 110254184.33348 85912345.81348 20980679.0014 20980680.5424 20980679.8634 249.000 223.000 120713732.89848 94062638.76348 22971066.7834 22971069.3844 22971066.3794 231.000 194.000 127596858.63848 99426108.12048 24280886.5204 24280890.7184 24280887.1834 218.000 159.000 113742340.75548 88630389.25948 21644452.3124 21644453.7974 21644451.9784 245.000 216.000 122838795.24448 95718531.73348 23375451.5884 23375454.5834 23375451.0024 216.000 162.000 117616989.64848 91649585.97448 22381782.3054 22381787.0184 22381782.7914 238.000 201.000 111208337.76148 86655834.69148 21162252.8314 21162255.1284 21162253.5234 248.000 220.000- 08 5 27 0 0 0.0000000 : 历元时刻
- 0 : 历元标志， 0:正常，1：异常
- 8G 6G21G29G30G31G 3G24G16 : 8代表有8个观测，后面是每个卫星的ID，前缀G代表GPS(G 3,代表G03？ 不带补0的？)下面每行就是每个卫星的观测数据
下载地址
- ftp://nfs.kasi.re.kr/gps/data/daily
- ftp://cddis.gsfc.nasa.gov/highrate/2020/188
- ftp://www.igs.org/pub/
访问FTP数据需要通过ftp客户端, 比如nautilus或者FileZilla
ftp客户端中输入ftp地址 例如 ftp://nfs.kasi.re.kr/gps/data/daily/2020/001可以直接从中获取rinex文件
其它FPT客户端也都可以https://linuxconfig.org/how-to-install-ftp-client-for-ubuntu-18-04-bionic-beaver-linux
代码参考 rinex_example.cpp
./rinex_example...nav : n=1622005/04/02 02:00:00.000 : 1 2005/04/02 02:00:00 2005/04/02 00:19:36 140 396 02005/04/02 00:00:00.000 : 3 2005/04/02 00:00:00 2005/04/01 22:00:18 83 595 02005/04/02 02:00:00.000 : 3 2005/04/02 02:00:00 2005/04/02 00:00:18 84 340 02005/04/02 02:00:00.000 : 4 2005/04/02 02:00:00 2005/04/02 00:41:18 149 149 02005/04/02 00:00:00.000 : 7 2005/04/02 00:00:00 2005/04/01 23:22:42 73 73 02005/04/02 02:00:00.000 : 7 2005/04/02 02:00:00 2005/04/02 00:00:18 74 74 02005/04/02 00:00:00.000 : 8 2005/04/02 00:00:00 2005/04/01 22:00:18 176 688 0...obs : n=9482005/04/02 00:00:00.000 : 3 1 55923622.160 43647388.242 24767686.375 24767684.822 0 02005/04/02 00:00:00.000 : 7 1 -691177.898 -537007.140 24361933.475 24361930.599 0 02005/04/02 00:00:00.000 : 8 1 17984490.035 14018464.809 23407378.219 23407374.320 0 02005/04/02 00:00:00.000 : 11 1 7712103.227 6019854.642 20311445.258 20311439.442 0 02005/04/02 00:00:00.000 : 19 1 36724126.590 28621450.827 22613015.950 22613010.110 0 02005/04/02 00:00:00.000 : 20 1 -5764048.758 -4479034.461 21565852.190 21565847.229 0 02005/04/02 00:00:00.000 : 24 1 -2292750.457 -1749426.201 22276378.821 22276375.748 0 02005/04/02 00:00:00.000 : 28 1 -5448227.324 -4238014.209 21543408.487 21543403.046 0 0代码参考 satpos_example.cpp
./satpos_example...2020.000000,8.000000,16.000000,0.000000,1.000000,0.00000001 60 -13579942.467 9771755.078 20305999.967 33959.06103 60 -23371334.105 12368554.699 1740200.870 -271150.52507 60 -6116449.145 24004937.051 -8551534.906 -351050.81808 60 -23864836.161 -4263902.654 11160344.637 -44598.65011 60 -17062646.729 372106.871 19799556.205 -191622.73317 60 9683226.017 19060992.875 16213366.523 311619.01719 60 16019360.466 18952228.716 9250491.532 -117914.60722 60 -23419416.229 7832245.251 9782836.952 -763790.27228 60 -1288194.531 16544638.575 21353310.065 689127.93030 60 477556.699 26397274.483 1469893.733 -283002.660第一行是时间, 2020年8月16日，0时1分0秒后面几行是卫星sn, 时间，位置三维位置，卫星钟差(纳秒)
已知N个卫星的位置和卫星到接收机的伪距，求解接收机的位置和钟差，求解方法比较简单，标准的最小二乘或者优化方法都可以解，公式推导参考Basics of the GPS Technique, 不过最麻烦的是各种误差补偿，比如电离层误差、对流层误差等.
代码参考spp_example.cpp注意调用之前要给lambda赋值(波长)，这个问题当时我查了一天.
for (int i = 0; i < NSATGPS; i++){ nav->lam[i][0] = CLIGHT / FREQ1; nav->lam[i][1] = CLIGHT / FREQ2; nav->lam[i][2] = CLIGHT / FREQ5;}./spp_example...2020,8,15,23,59,60,-3120046.686870,4084621.475955,3764034.709503,0.000000,0.000000,0.000000,2020,8,16,0,0,1,-3120047.650995,4084622.776844,3764034.879003,0.000000,0.000000,0.000000,2020,8,16,0,0,2,-3120048.149014,4084623.768534,3764035.318619,0.000000,0.000000,0.000000,2020,8,16,0,0,3,-3120047.890838,4084622.629507,3764034.940171,0.000000,0.000000,0.000000,2020,8,16,0,0,4,-3120046.991411,4084621.607839,3764033.861034,0.000000,0.000000,0.000000,2020,8,16,0,0,5,-3120047.497998,4084622.579997,3764034.913619,0.000000,0.000000,0.000000,2020,8,16,0,0,6,-3120046.906680,4084622.429260,3764034.066605,0.000000,0.000000,0.000000,2020,8,16,0,0,7,-3120048.192236,4084623.991768,3764035.448642,0.000000,0.000000,0.000000,打印的是时间、位置、速度，由于obs文件中没有包含doppler观测，所以这里没有解算速度.
TODO代码参考 dpp_example.cpp
定位精度可以达到mm, 不过只能计算相对位置, 需要额外的基站(base station)，而且基站和接收机(rover station)之间需要通信链路.rtk定位的重点在于两次差分, 第一次差分是站间差分(base station 和 rover station), 能够消除卫星钟差, 电离层误差、对流层误差等，第二次差分是星间差分, 能够消除接收机钟差. 公式推导参考 Basics of the GPS Technique.
代码参考rtk_example.cpp
./rtk_example...station pos: -3978242.434800,3382841.171500,3649902.766700(0,17)/1987, type: 0, pos: 2022.774943,-468.630735,2610.284897(17,17)/1987, type: 0, pos: 2022.777023,-468.636038,2610.280449(34,17)/1987, type: 0, pos: 2022.775807,-468.634462,2610.280089(51,17)/1987, type: 0, pos: 2022.769654,-468.626963,2610.285410(68,17)/1987, type: 0, pos: 2022.770668,-468.633941,2610.287829(85,17)/1987, type: 0, pos: 2022.772624,-468.633807,2610.285683(102,17)/1987, type: 0, pos: 2022.764647,-468.624600,2610.291085(119,17)/1987, type: 0, pos: 2022.762379,-468.620144,2610.292037(136,17)/1987, type: 0, pos: 2022.765727,-468.621999,2610.294079(153,17)/1987, type: 0, pos: 2022.771617,-468.636478,2610.285908(170,17)/1987, type: 0, pos: 2022.772370,-468.631508,2610.292070精密星历文件下载 ftp://cddis.gsfc.nasa.gov/pub/gps/products/2119
- igr 快速星历(IGS rapid ephemeris)
- igu 超快速星历(IGS ultra rapid ephemeris)
- igf 事后精密星历(IGS final precise ephemeris)其中IGF轨道精度最高，优于3cmIGR轨道精度次之, 优于4cmIGU实测部分精度优于5cm, 预报部分精度较低，约为10cm
代码参考ppp_satpos_example.cpp
./ppp_satpos_example2020.000000,8.000000,16.000000,0.000000,0.000000,0.00000001 0 -13573837.896 9929603.849 20232286.958 33959.136 -13573838.559 9929604.454 20232287.850 33954.03803 0 -23374402.912 12389243.851 1549017.642 -271149.817 -23374403.920 12389244.701 1549017.042 -271154.97807 0 -6096857.839 24073097.783 -8375705.752 -351050.043 -6096858.614 24073097.660 -8375705.373 -351058.40608 0 -23796056.904 -4212673.114 11324081.130 -44598.670 -23796058.543 -4212674.400 11324080.895 -44607.38511 0 -16997160.108 517415.986 19853350.492 -191623.045 -16997160.908 517415.933 19853351.799 -191625.19917 0 9786437.220 19118562.789 16079790.071 311618.481 9786436.435 19118562.839 16079789.874 311611.20319 0 16084929.559 18984451.661 9074928.465 -117914.856 16084929.215 18984451.792 9074928.575 -117921.83822 0 -23466875.757 7891092.688 9616095.842 -763790.469 -23466876.286 7891092.910 9616094.929 -763797.52228 0 -1147008.702 16482062.577 21410400.275 689127.804 -1147009.813 16482063.461 21410401.055 689126.488第一行打印的是时间，后面分别是广播星历计算的卫星位置和钟差(3-6),精密星历计算的卫星位置和钟差(7-10)
代码参考 ppp_example.cpp
./ppp_example...8396/8486, pos: -3120047.547767,4084621.477668,3764033.4981288406/8486, pos: -3120047.547820,4084621.478091,3764033.4985178416/8486, pos: -3120047.547898,4084621.478066,3764033.4984578426/8486, pos: -3120047.547721,4084621.478756,3764033.4982578436/8486, pos: -3120047.547051,4084621.478064,3764033.4976238446/8486, pos: -3120047.547242,4084621.477836,3764033.4977478456/8486, pos: -3120047.547520,4084621.477508,3764033.4979798466/8486, pos: -3120047.546602,4084621.476270,3764033.4973788476/8486, pos: -3120047.546458,4084621.475280,3764033.497483ppp收敛速度非常慢, 看最后几次的计算结果，精度还是很高的
下载rtklib源码, 编译成静态库并安装
git clone https://github.com/tomojitakasu/RTKLIB.gitcd RTKLIB/src在RTKLIB/src目录下添加CMakeLists.txt文件
cmake_minimum_required(VERSION 3.1)project(rtklib)add_definitions(-DTRACE)#enable trace in rtklibset(RTKLIB_SRC convkml.c convrnx.c datum.c download.c ephemeris.c geoid.c ionex.c lambda.c options.c pntpos.c postpos.c ppp_ar.c ppp.c preceph.c qzslex.c rcvraw.c rinex.c rtcm2.c rtcm3.c rtcm3e.c rtcm.c rtkcmn.c rtkpos.c rtksvr.c sbas.c solution.c stream.c streamsvr.c tle.c)add_library(rtklib STATIC ${RTKLIB_SRC})install(TARGETS rtklib LIBRARY DESTINATION lib ARCHIVE DESTINATION lib)install(FILES rtklib.h DESTINATION include)mkdir buildcd buildcmake ..makesudo make install此时rtklib已经作为静态库被安装在系统目录下， 基于rtklib二次开发也不用带源码了，直接引用静态库即可.注意-DTRACE的做用是打开trace开关, 遇到问题调试起来会快不少.添加如下几行代码， 就可以使能trace功能
traceopen("rtklib.trace");tracelevel(5);//////////////////////////////////////code////////////////////////////////////////////traceclose();你的目录下会多一个rtklib.trace的文件, 记录了代码执行的关键路径.
cd rtklib_examplemkdir buildcd buildcmake ..make./rinex_example./satpos_example./spp_example./rtk_example./ppp_satpos_example./ppp_example/* integer ambiguity resolution ----------------------------------------------*/int lambda(int n, int m, const double *a, const double *Q, double *F, double *s);/* standard positioning ------------------------------------------------------*/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);/* precise positioning -------------------------------------------------------*/void rtkinit(rtk_t *rtk, const prcopt_t *opt);void rtkfree(rtk_t *rtk);int rtkpos(rtk_t *rtk, const obsd_t *obs, int nobs, const nav_t *nav);int rtkopenstat(const char *file, int level);void rtkclosestat(void);/* precise point positioning -------------------------------------------------*/void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);int pppamb(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav, const double *azel);int pppnx(const prcopt_t *opt);void pppoutsolstat(rtk_t *rtk, int level, FILE *fp);void windupcorr(gtime_t time, const double *rs, const double *rr, double *phw);/* post-processing positioning -----------------------------------------------*/int postpos(gtime_t ts, gtime_t te, double ti, double tu, const prcopt_t *popt, const solopt_t *sopt, const filopt_t *fopt, char **infile, int n, char *outfile, const char *rov, const char *base);#define SOLQ_NONE 0 /* solution status: no solution */#define SOLQ_FIX 1 /* solution status: fix */#define SOLQ_FLOAT 2 /* solution status: float */#define SOLQ_SBAS 3 /* solution status: SBAS */#define SOLQ_DGPS 4 /* solution status: DGPS/DGNSS */#define SOLQ_SINGLE 5 /* solution status: single */#define SOLQ_PPP 6 /* solution status: PPP */#define SOLQ_DR 7 /* solution status: dead reconing */#define MAXSOLQ 7 /* max number of solution status */#define SOLF_LLH 0 /* solution format: lat/lon/height */#define SOLF_XYZ 1 /* solution format: x/y/z-ecef */#define SOLF_ENU 2 /* solution format: e/n/u-baseline */#define SOLF_NMEA 3 /* solution format: NMEA-183 */#define SOLF_GSIF 4 /* solution format: GSI-F1/2/3 */#define PMODE_SINGLE 0 /* positioning mode: single */#define PMODE_DGPS 1 /* positioning mode: DGPS/DGNSS */#define PMODE_KINEMA 2 /* positioning mode: kinematic */#define PMODE_STATIC 3 /* positioning mode: static */#define PMODE_MOVEB 4 /* positioning mode: moving-base */#define PMODE_FIXED 5 /* positioning mode: fixed */#define PMODE_PPP_KINEMA 6 /* positioning mode: PPP-kinemaric */#define PMODE_PPP_STATIC 7 /* positioning mode: PPP-static */#define PMODE_PPP_FIXED 8 /* positioning mode: PPP-fixed */PMODE_KINEMA 和 PMODE_FIXED怎么理解？
#define TIMES_GPST 0 /* time system: gps time */#define TIMES_UTC 1 /* time system: utc */#define TIMES_JST 2 /* time system: jst */#define IONOOPT_OFF 0 /* ionosphere option: correction off */#define IONOOPT_BRDC 1 /* ionosphere option: broadcast model */#define IONOOPT_SBAS 2 /* ionosphere option: SBAS model */#define IONOOPT_IFLC 3 /* ionosphere option: L1/L2 or L1/L5 iono-free LC */#define IONOOPT_EST 4 /* ionosphere option: estimation */#define IONOOPT_TEC 5 /* ionosphere option: IONEX TEC model */#define IONOOPT_QZS 6 /* ionosphere option: QZSS broadcast model */#define IONOOPT_LEX 7 /* ionosphere option: QZSS LEX ionospehre */#define IONOOPT_STEC 8 /* ionosphere option: SLANT TEC model */#define TROPOPT_OFF 0 /* troposphere option: correction off/#define TROPOPT_SAAS 1 / troposphere option: Saastamoinen model/#define TROPOPT_SBAS 2 / troposphere option: SBAS model/#define TROPOPT_EST 3 / troposphere option: ZTD estimation/#define TROPOPT_ESTG 4 / troposphere option: ZTD+grad estimation/#define TROPOPT_COR 5 / troposphere option: ZTD correction/#define TROPOPT_CORG 6 / troposphere option: ZTD+grad correction */
#define EPHOPT_BRDC 0 /* ephemeris option: broadcast ephemeris */#define EPHOPT_PREC 1 /* ephemeris option: precise ephemeris */#define EPHOPT_SBAS 2 /* ephemeris option: broadcast + SBAS */#define EPHOPT_SSRAPC 3 /* ephemeris option: broadcast + SSR_APC */#define EPHOPT_SSRCOM 4 /* ephemeris option: broadcast + SSR_COM */#define EPHOPT_LEX 5 /* ephemeris option: QZSS LEX ephemeris */#define ARMODE_OFF 0 /* AR mode: off */#define ARMODE_CONT 1 /* AR mode: continuous */#define ARMODE_INST 2 /* AR mode: instantaneous */#define ARMODE_FIXHOLD 3 /* AR mode: fix and hold */#define ARMODE_PPPAR 4 /* AR mode: PPP-AR */#define ARMODE_PPPAR_ILS 5 /* AR mode: PPP-AR ILS */#define ARMODE_WLNL 6 /* AR mode: wide lane/narrow lane */#define ARMODE_TCAR 7 /* AR mode: triple carrier ar */#define SBSOPT_LCORR 1 /* SBAS option: long term correction */#define SBSOPT_FCORR 2 /* SBAS option: fast correction */#define SBSOPT_ICORR 4 /* SBAS option: ionosphere correction */#define SBSOPT_RANGE 8 /* SBAS option: ranging */#define STR_NONE 0 /* stream type: none */#define STR_SERIAL 1 /* stream type: serial */#define STR_FILE 2 /* stream type: file */#define STR_TCPSVR 3 /* stream type: TCP server */#define STR_TCPCLI 4 /* stream type: TCP client */#define STR_UDP 5 /* stream type: UDP stream */#define STR_NTRIPSVR 6 /* stream type: NTRIP server */#define STR_NTRIPCLI 7 /* stream type: NTRIP client */#define STR_FTP 8 /* stream type: ftp */#define STR_HTTP 9 /* stream type: http */#define LLI_SLIP 0x01 /* LLI: cycle-slip */#define LLI_HALFC 0x02 /* LLI: half-cycle not resovled */#define LLI_BOCTRK 0x04 /* LLI: boc tracking of mboc signal */#define LLI_HALFA 0x40 /* LLI: half-cycle added */#define LLI_HALFS 0x80 /* LLI: half-cycle subtracted */