GPS卫星坐标计算

1、卫星定位技术与方法-根据广播星历参数计算卫星坐标作业报告指导教师：熊永良班级：测绘二班学生姓名：段海东学生学号:20080783作业日期：2010年12月08日1 .已知数据2.2 .计算步骤2.1 .平均角速度(meanangularspeed)22 .规化时亥U(normaltime)3.3 .平近点角(meananomaly)34 .偏近点角(eccentricanomaly)35 .真近点角(trueanomaly)36 .升交距角(argumentofascendingnode)37 .轨道向径(Orbitalradius)38 .扰动改正(Perturbedcorrection)4

2、10 .卫星在开交点轨道直角坐标系中的坐标411 .升交点经度(Longitudeofascendingnode)53 .源程序5.4 .程序运行结果1.4七.作业体会15根据广播星历参数计算卫星坐标已知数据：根据以下的广播星历参数计算UTC2004年1月30日8点0分00秒一20分00秒，每隔一分钟的PRN7的卫星坐标。ComputethecoordinateofPRN7withintervalof1minute.Navigationdata:2NAVITIQIIMTARINEXVERSION/TEPEEFHTOt解£3-L版本3Q-JAN-04碌;41PCM/RUHBY/DATE

3、HMDOFHEADEB4iisc，soaa-a,5/：a21332157D-04-0.eaz1755it?23>11a.oamaoaoaaoochooD.13SDOOD0OOQ(nm)3QB日先町50叩0加020.1475543013TD-O0(J.LDO13O<7339H)1D,号g然BD05Q朋0026源B360Mz飙5口密5309995巾450,5L535T77KM口,4B口BOOOOOOOmm)60.SieeOSFSaGgtD-OT0.305054077a39t>HJL0.仇966365662D07Q,照l旄7例计M0.27946875000ai>+03-0.1

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5、B5ZL7571>-0S0.125S56591351D-010.90375542640715-05(J.5L5SF3Q38319(040,4网瞅(XKXXKMHO日口额67码611册处能0.193198315097W1-0.7254313062001)-07D,93了曲094"5网口0.ISierSODOOdOMa-O.L85137234909DKIL-0.7SlflS»109M2IH)8-0,】发好4口如以MJHJ90,IOOOOOWOWOM10.L25EOOOOOCK)OOKH0.0OOO(NOOOOOOI>K)OD,ODODOODOOWDQHIO0,OOO

6、OOOOOOOOOIHK-O.Lafi2M514923D-O80.2100000000001X)3D.QQOOCOO3QOOCWQ卫星导航文件格式:PRN购/H工skit(iicotid登二财弓）K)IX出比小）rradian曲MXtsifirs)四侬艰t驶际回：不以：这如UseccfGPStek口神必埼孰礴由国）年Iraiers)而诬皿j|港徊好；OMGADC7(2也5稣tDOT值蒯噌胆；C湎cttL2diannelGP5AV«k-LiPlitafla?SVanzrzcy.底:gSVhtlrETGDfirafc'33CcfDi：iTstfm：<s：ctiatMmt*s

7、a«>fcondispare睁士spine计算步骤：Thestepsforsatellitecoordinates1 .平均角速度(meanangularspeed):nn0nGMn由广播星历获得，GM=3.986005e+142 .规化时刻(normaltime):tkttot0已知(由广播星历获得)，t为GP姗秒3 .平近点角(meananomaly):MkMontkM0已知(由广播星历获得)4 .偏近,电角(eccentricanomaly):EkMkesinEk迭代求解：初始值取E=M以弧度为单位5 .真近点角(trueanomaly):1e2sinEkVkarctan

8、cosEke6 .升交品巨角(argumentofascendingnode)0Vk近地点角距(argumentofperigee)7 .轨道向径(Orbitalradius):rka(1ecosEk)8 .扰动改正(Perturbedcorrection):升交角距(Argumentofascendingnodeu=Gccos2CuSsin20轨道向径(Orbitalradius)rC©CoS2CrSsin20?轨道顷角(Orbitalinclination)iCiCcos2CiSSin200是升交角品巨(theargumentofascendingnode)9 .改正后升交角距、

9、轨道向径、轨道倾角改正后开交角品E(Correctedargumentofascendingnoduk0u改正后的轨道向径(Correctedorbitalradius)rka(1ecosEk)r改正后的轨道倾角(Correctedorbitalinclination:iki。i(IDOT)tk10 .卫星在开交点轨道直角坐标系中的坐标：如下图所示xkrkcosukYkrksinuk11. 升交,电经度(Longitudeofascendingnode)：如下图所示t0(e)tket0e_-5e7.292115146710rad/s12. 在地固坐标系中的卫星位置(Expressedinsph

10、ericcoordinatesystemkXkcoskYkcosiksinkYkXksinkYkcosikcoskZkYksinik三.源程序：usingSystem;usingSystem.Collections.Generic;usingSystem.ComponentModel;usingSystem.Data;usingSystem.Drawing;usingSystem.Text;usingSystem.Windows.Forms;usingSystem.IO;usingSystem.Text.RegularExpressions;namespaceTest(publicpartia

11、lclassForml:Form(publicForm1()(InitializeComponent();listView1.Columns.Add("listView1.Columns.Add("listView1.Columns.Add("listView1.GridLines=true;/listView1.View=View.Details;/listView1.HeaderStyle头进行设置listView2.Columns.Add("listView2.Columns.Add("xlistView2.Columns.Add(&qu

12、ot;ylistView2.Columns.Add("zlistView2.GridLines=true;/listView2.View=View.Details;/listView2.HeaderStyle头进行设置序号",40);星历内容"，130);导航数据",130);显示表格线显小表格细节=ColumnHeaderStyle.Clickable;/对表时间”,60);坐标"，150);坐标"，150);坐标"，150);显示表格线显小表格细节=ColumnHeaderStyle.Clickable;/对表priva

13、tevoidbutton1_Click(objectsender,EventArgse)(/读取相对路径stringstr1=AppDomain.CurrentDomain.SetupInformation.ApplicationBase;stringfilename=strl+"navigationdata.txt"/读取卫星广播星历文件StreamReadermyreader=newStreamReader(filename,Encoding.Default);stringmyinfo=myreader.ReadToEnd();myreader.Close();/把卫星

14、广播星历里的D改为e,以便后续计算stringmystring=myinfo;stringmyinfor=mystring;myinfor=mystring.Replace("D","e");/把数据分开读入到一个数组中存储stringsplit=newstring""stringarrs=myinfor.Split(split,StringSplitOptions.RemoveEmptyEntries);doubleM=newdoublearrs.Length;/星历代码stringN=newstringarrs.Length;N0

15、="PRN"N1="Yer"N2="Mon"N3="day"N4="H"N5="M"N6="sec"N7="a0"N8="a1"N9="a2"N10="IODE"N11="Crs"N12="delta-n"N13="M0"N14="Cuc"N15="e"N16="Cus

16、"N17="sqrt(a)"N18="t0e"N19="Cic"N20="omega0"N21="Cis"N22="i0"N23="Crc"N24="omega"N25="omega-spot"N26="IDOT"N27="CodesonL2channel"N28="GPSWeek"N29="L2Pdataflag"N30=&q

17、uot;SVaccuracy"N31="SVhealth"N32="TGD"N33="IODCIssueofData"N34="Transmissiontimeofmessage"/把卫星广播星历读入到数组中for(inti=0;i<arrs.Length;i+)ListViewItemli=newListViewItem();li.Text=(i+1).ToString();li.SubItems.Add(Ni);li.SubItems.Add(arrsi);listView1.Items.Add

18、(li);Mi=double.Parse(arrsi);doublet0e=460800.00;doublet;doubleXK=newdouble21;doubleYK=newdouble21;doubleZK=newdouble21;for(intl=0;l<21;l+)/计算平均角速度doubleGM=3986004.418e008;doublen,n0;n0=Math.Sqrt(GM/(Math.Pow(M17,6);n=M12+n0;/规划时刻t=t0e+l*60;doubletk=t-t0e;doubleMk=M13+n*tk;/迭代计算平近点角的计算doubleEk,Ek1

19、;Ek=Mk;Ek1=Mk+M15*Math.Sin(Ek);do(Ek=Ek1;Ek1=Mk+M15*Math.Sin(Ek);)while(Math.Abs(Ek1-Ek)>1e-15);/计算真近点角doubleVk=Math.Atan(Math.Sqrt(1-M15*M15)*Math.Sin(Ek)/(Math.Cos(Ek)-M15);/反正切值的象限处理doubleA1=Math.Atan(Math.Sqrt(1-M15*M15)*Math.Sin(Ek);doubleA2=Math.Cos(Ek)-M15;if(Vk<0)(if(A1<0&&A

20、2>0)Vk+=2*Math.PI;)if(A1>0&&A2<0)(Vk+=Math.PI;)else(if(A1<=0&&A2<=0)Vk=Vk+Math.PI;)/计算升交角距doublefk=Vk+M24;/摄动改正值的计算doubledu=M14*Math.Cos(2*fk)+M16*Math.Sin(2* fk);doubledr=M23*Math.Cos(2*fk)+M11*Math.Sin(2* fk);doubledi=M19*Math.Cos(2*fk)+M21*Math.Sin(2* fk);/摄动改正doubl

21、euk=fk+du;doublerk=Math.Pow(M17,2)*(1-M15*Math.Cos(Ek)10+dr;doubleik=M22+di+M26*tk;/计算卫星在开交点轨道直角坐标系的坐标doublexk=rk*Math.Cos(uk);doubleyk=rk*Math.Sin(uk);/计算开交点经度doublewe=7.2921151467e-05;doublejdt=M20+(M25-we)*tk-we*M18;/卫星在地固坐标系中的空间直角坐标XKl=xk*Math.Cos(jdt)-yk*Math.Cos(ik)*Math.Sin(jdt);YKl=xk*Math.S

22、in(jdt)+yk*Math.Cos(ik)*Math.Cos(jdt);ZKl=yk*Math.Sin(ik);)/输出卫星在地固坐标系中的空间直角坐标for(inti=0;i<21;i+)(ListViewItemlist=newListViewItem();list.Text="第"+i.ToString()+"分钟"list.SubItems.Add(XKi.ToString();list.SubItems.Add(YKi.ToString();list.SubItems.Add(ZKi.ToString();listView2.Item

23、s.Add(list);)11privatevoidbutton2_Click(objectsender,EventArgse)(/读取相对路径stringstr1=AppDomain.CurrentDomain.SetupInformation.ApplicationBase;stringfilename=str1+"navigationdata.txt"/读取卫星广播星历文件StreamReadermyreader=newStreamReader(filename,Encoding.Default);stringmyinfo=myreader.ReadToEnd();m

24、yreader.Close();/把卫星广播星历里的D改为e,以便后续计算stringmystring=myinfo;stringmyinfor=mystring;myinfor=mystring.Replace("D","e");/把数据分开读入到一个数组中存储string口split=newstring""stringarrs=myinfor.Split(split,StringSplitOptions.RemoveEmptyEntries);/星历代码stringN=newstringarrs.Length;12N0="

25、;PRN"N1="Yer"N2="Mon"N3="day"N4="H"N5="M"N6="sec"N7="a0"N8="a1"N9="a2"N10="IODE"N11="Crs"N12="delta-n"N13="M0"N14="Cuc"N15="e"N16="Cus"

26、N17="sqrt(a)"N18="t0e"N19="Cic"N20="omega0"N21="Cis"N22="i0"N23="Crc"N24="omega"N25="omega-spot"N26="IDOT"N27="CodesonL2channel"N28="GPSWeek"N29="L2Pdataflag"N30="SV

27、accuracy"N31="SVhealth"N32="TGD"N33="IODCIssueofData"N34="Transmissiontimeofmessage"/把卫星广播星历文件内容输出到listView进行查看for(inti=0;i<arrs.Length;i+)ListViewItemli=newListViewItem();li.Text=(i+1).ToString();li.SubItems.Add(Ni);li.SubItems.Add(arrsi);listView1.It

28、ems.Add(li);13四.程序运行结果星历内容的读取、显示:显示卫星星所文件内容序号星历内容导航数据1IEUT72Yer43Hor1qday3DL5KSe070.0S0E293253T7313-03日-0.5<1569&32L0&4e-11100-0000000X00O-e+OO11工ODE0El山口00000g钝312Crs053西12500口叩电何£13delta.-si0.4B5305023777e-0&14-0,Z14992476B72e+0115Cue02T54a5E17571e-0515g012553691351-01ITCm09037

29、55426407-0513sqrt(a)05153T3口羽田麻田419tOe046口即WQ0EM却&20Cie020&7536J1565e-0&El阿0193190315097122Cis-0.T264316O32®e-072310093769009471&eMJ0廿卫星坐标计算结果:14讦SOM里粽("inr"iiiiirfin!""!mr'iinllll，F，i-时间支坐标建标第咐钥1-13113645.4&3S0051609ZCE7.2&E309ZieSZ6OZ4.39269T&am

30、p;第1分钥1-13W56BT,T535£57110556,南1303165(ng31Kx4第渤钥1T3557口16,270341316329,1953Z2216385603.3302314第3分钥1-13力7在乙5T6556916H6S96.633TOOT16烟543.7533164第吗钥1-13396496.3567713IB1&5239.29E3028161302&3,475666&第5分钥1-1014335.424OCK16163EL7,46401116012771.1636663第凶朝1-14132225,721007516202471.529303

31、3l5S8607B.75&04第俏智1-1<1243651.321409416221241.635Z33T15756138.3209013第吩钓1-14X4134.430894716240116.579861915陷116.410132第涉智1-1447363T,333356G16259091.9QEB50Z154兆B69.35比364第1口分钟-1459216£.8&7口子曰16278151,6&923S515357457.1625691第1L分钟-14704702.3T562221629723647124T3152348S8.9691003第1工分钟

32、-14S葭印.彩934491631&49J.6500163117%&114355第13分钟-14926799.201Q52216335751.137534914966323.8101145第14分钟-15036341.EE2E51216353056.S561E9T14B303银41总咨第15分钟-15144869,931133163796.63057614日93252.羽6792第16分钟-15E523T6.1rB35国9163937S5.6&9765514555051.472E第17分钟T5358朋1,592。1516413146.2&85T021441s7弭

33、02笔543第归分钟-15<1&4310,4211616432535.359609914ZT53T0,1200T4B第1日分钟-15%仃级电721，16451-9L6.61T5113KL33910.02=36661第匆分钟-15&T20S5,4436巩816411231.4580113991334.J7S2333堇亚俵一运行界面:品三p星早历却嘻用弓里历的考刷藏苗Jk汴同理奇百标理标1FFJ7?Yer43Mcil14d班305JiE6MQ7see0.d8W讯眈Q区小乱31Alfl54300210-11L0衣Q.OODDCOXDaUDafaLLICBE0.2：OtO：CCO

34、OCiDeKiO12Crs0.5JT!H?5nOOOn*T2L3Me(M853J5Q£8TTEL4MO-O.EL4,39e4TW7Ze+01l与CtocL&gOJ2S3DOCG1351.-OlITCusQ03F55®ftinTC&L8%r七1>0.5L5OT3O398lB«HXL9tCeO.460»LCC00ODel£fiZDCicD20&?3BI5«5*<S2LmN0.193l'K315097cKil2之Ci-U,准弘31刖道:口gUT2310D.Mli'bJJJ“T：第。分肿以*1*1工*&町口1,&C5KCT.26230S216623024.(0375第1总冲7353REST-S3S257161IDS5E2WL1