轨迹记录工具
带有 GPS 记录功能的运动手表价格不菲，于是我自己写了一个简单的运动轨迹记录工具。核心代码如下，只有不到 200 行。
工具记录的数据可以使用 Isolated Storage Explorer Tool 导出，进行进一步的分析、处理和转换。
下载链接 http://pan.baidu.com/s/1sjO43s5
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Device.Location;
using System.IO;
using System.IO.IsolatedStorage;
using System.Text;
using System.Windows;
using Microsoft.Phone.Controls;
using Microsoft.Phone.Shell;
namespace Tracker
{
public partial class MainPage : PhoneApplicationPage
{
bool tracking;
string logName;
GeoCoordinateWatcher watcher;
List<GeoCoordinate> locations;
List<long> timestamps;
Object lockObject;
public MainPage()
{
tracking = false;
lockObject = new Object();
InitializeComponent();
PhoneApplicationService.Current.ApplicationIdleDetectionMode = IdleDetectionMode.Disabled;
updateLogName();
status.Text = "GPS Tracker by coolypf";
watcher = new GeoCoordinateWatcher(GeoPositionAccuracy.High);
watcher.MovementThreshold = 0.0;
watcher.PositionChanged += onMove;
}
void onMove(object sender, GeoPositionChangedEventArgs<GeoCoordinate> e)
{
if (!tracking || watcher.Status != GeoPositionStatus.Ready)
return;
lock (lockObject)
{
locations.Add(e.Position.Location);
timestamps.Add(e.Position.Timestamp.UtcTicks);
}
}
void updateLogName()
{
IsolatedStorageFile isf = IsolatedStorageFile.GetUserStoreForApplication();
DateTime now = DateTime.Now;
String prefix = now.Year + "-" + now.Month + "-" + now.Day + "-";
String filename;
int idx = 1;
while (true)
{
filename = prefix + idx + ".txt";
if (!isf.FileExists(filename))
break;
idx++;
}
name.Text = filename;
}
void writeLog()
{
lock (lockObject)
{
if (locations.Count < 2)
return;
IsolatedStorageFile isf = IsolatedStorageFile.GetUserStoreForApplication();
StreamWriter w = new StreamWriter(isf.OpenFile(logName, FileMode.Create, FileAccess.Write));
for (int i = 0; i < locations.Count; ++i)
{
w.Write(timestamps[i]);
w.Write(" ");
GeoCoordinate g = locations[i];
w.Write(g.Latitude);
w.Write(" ");
w.Write(g.Longitude);
w.Write(" ");
w.Write(g.Altitude);
w.WriteLine();
}
w.Close();
}
}
void onControl(object sender, RoutedEventArgs e)
{
control.IsEnabled = false;
if (tracking)
{
watcher.Stop();
writeLog();
status.Text = getStatus();
control.Content = "Start";
show.IsEnabled = false;
updateLogName();
name.IsEnabled = true;
tracking = false;
}
else
{
name.IsEnabled = false;
logName = name.Text;
locations = new List<GeoCoordinate>();
timestamps = new List<long>();
tracking = true;
watcher.Start();
control.Content = "Stop";
show.IsEnabled = true;
}
control.IsEnabled = true;
}
String getStatus()
{
StringBuilder b = new StringBuilder();
lock (lockObject)
{
b.Append("Tracked positions: ");
b.Append(locations.Count);
b.AppendLine();
if (locations.Count >= 2)
{
double dist = 0.0, dist_r = 0.0, speed = 0.0;
long ticks = timestamps[timestamps.Count - 1] - timestamps[0], ticks_r = 0;
for (int i = 1; i < locations.Count; ++i)
{
double dd = locations[i - 1].GetDistanceTo(locations[i]);
long dt = timestamps[i] - timestamps[i - 1];
if (dt > 0)
speed = dd * 1e7 / dt;
if (speed > 2.0)
{
dist_r += dd;
ticks_r += dt;
}
dist += dd;
}
b.Append("Total distance: ");
b.Append(dist * 1e-3);
b.AppendLine(" km");
b.Append("Total time: ");
b.Append(new TimeSpan(ticks).ToString());
b.AppendLine();
b.Append("Average speed: ");
if (ticks > 0)
speed = dist * 3.6e7 / ticks;
else
speed = 0.0;
b.Append(speed);
b.AppendLine(" km/h");
b.Append("Running speed: ");
if (ticks_r > 0)
speed = dist_r * 3.6e7 / ticks_r;
else
speed = 0.0;
b.Append(speed);
b.AppendLine(" km/h");
}
}
return b.ToString();
}
void onShow(object sender, RoutedEventArgs e)
{
if (!tracking)
return;
status.Text = getStatus() + "GPS status: " + watcher.Status.ToString();
}
protected override void OnBackKeyPress(CancelEventArgs e)
{
if (tracking)
{
MessageBoxResult result = MessageBox.Show("Tracking is in progress. If you quit, all recorded data will be lost.", "Quit Tracker?", MessageBoxButton.OKCancel);
if (result != MessageBoxResult.OK)
e.Cancel = true;
}
base.OnBackKeyPress(e);
}
}
}轨迹处理工具
下面的程序可以处理轨迹数据，进行简单的分析，并将数据转换成 CSV 和 GPX 格式。前者可以用 Excel 打开，后者可以导入 Google Earth 中，并进一步转换成 KMZ 格式导入到 Google Maps 里面。
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <vector>
using std::vector;
static double distance(double lat1, double lon1, double lat2, double lon2);
static void evil_transform(double wg_lat, double wg_lon, double &mg_lat, double &mg_lon);
static void bd_encrypt(double gg_lat, double gg_lon, double &bd_lat, double &bd_lon);
static void change_extension(char *name, const char *ext);
static int date_time(long long ticks, int part);
struct Record
{
long long tick;
double lat, lon, alt, speed;
};
struct Data
{
long long tick;
double lat, lon, alt, speed;
double time, dist, acc;
};
const double running_threshold = 1.9;
const double walking_threshold = 0.1;
static inline int hour(long long ticks)
{
return (int)((ticks & 0x3fffffffffffffffll) / 0x861c46800ll % 24ll);
}
static inline int minute(long long ticks)
{
return (int)((ticks & 0x3fffffffffffffffll) / 0x23c34600ll % 60ll);
}
static inline int second(long long ticks)
{
return (int)((ticks & 0x3fffffffffffffffll) / 0x989680ll % 60ll);
}
static inline int millisecond(long long ticks)
{
return (int)((ticks & 0x3fffffffffffffffll) / 10000 % 1000);
}
int main(int argc, char **argv)
{
double sampling_threshold = 2.0;
if (argc < 2)
{
fprintf(stderr, "Usage: analyzer tracking_log.txt [sampling_threshold]\nDefault sampling threshold is 2.0 seconds.\n");
return 1;
}
if (argc >= 3)
{
double arg = atof(argv[2]);
if (arg > 0.0 && arg < 3600.0)
sampling_threshold = arg;
}
if (strlen(argv[1]) > 4000)
{
fprintf(stderr, "File name too long!\n");
return 1;
}
// Read tracking log records
static char buf[4096];
FILE *fp = fopen(argv[1], "r");
if (!fp)
{
fprintf(stderr, "Can not open %s\n", argv[1]);
return 1;
}
vector<Record> vr;
while (1)
{
if (!fgets(buf, 4096, fp))
break;
int len = (int)strlen(buf);
if (len < 10 || len > 4000)
{
fprintf(stderr, "Invalid line: %d\n", (int)vr.size() + 1);
return 1;
}
Record rec;
if (sscanf(buf, "%lld%lf%lf%lf", &rec.tick, &rec.lat, &rec.lon, &rec.alt) != 4)
{
fprintf(stderr, "Invalid line: %d\n", (int)vr.size() + 1);
return 1;
}
vr.push_back(rec);
}
fclose(fp);
// Filter invalid records
if (vr.size() < 2)
{
fprintf(stderr, "No enough data to analyze!\n");
return 1;
}
vr[0].speed = 0.0;
for (size_t i = 1; i < vr.size(); ++i)
{
double dd = distance(vr[i - 1].lat, vr[i - 1].lon, vr[i].lat, vr[i].lon);
long long dt = vr[i].tick - vr[i - 1].tick;
if (dt > 0)
vr[i].speed = dd * 1e7 / dt;
else
vr[i].speed = vr[i - 1].speed;
}
vector<Record> v2;
double speed_avg = 0.0, speed_devi = 0.0, speed_limit;
for (size_t i = 0; i < vr.size(); ++i)
speed_avg += vr[i].speed;
speed_avg /= vr.size();
for (size_t i = 0; i < vr.size(); ++i)
speed_devi += (vr[i].speed - speed_avg) * (vr[i].speed - speed_avg);
speed_devi = sqrt(speed_devi / vr.size());
speed_limit = speed_avg + 3.0 * speed_devi;
// fprintf(stderr, "speed avg, devi, limit: %.2lf, %.2lf, %.2lf\n", speed_avg, speed_devi, speed_limit);
for (size_t i = 0; i < vr.size(); ++i)
if (vr[i].speed < speed_limit)
v2.push_back(vr[i]);
vr.swap(v2);
v2.clear();
// Resample data
if (vr.size() < 2)
{
fprintf(stderr, "No enough data to analyze!\n");
return 1;
}
vector<Data> vd;
{
Data dat0;
dat0.tick = vr[0].tick;
dat0.lat = vr[0].lat;
dat0.lon = vr[0].lon;
dat0.alt = vr[0].alt;
dat0.speed = 0.0;
dat0.time = 0.0;
dat0.dist = 0.0;
dat0.acc = 0.0;
vd.push_back(dat0);
}
long long begin = vr[0].tick;
double prev_time = 0.0, dist = 0.0;
for (size_t i = 1; i < vr.size(); ++i)
{
double time = (vr[i].tick - begin) * 1e-7;
if (i + 1 < vr.size() && time - prev_time < sampling_threshold)
continue;
long long dt = vr[i].tick - vd.back().tick;
if (dt <= 0)
continue;
Data dat;
double dd = distance(vd.back().lat, vd.back().lon, vr[i].lat, vr[i].lon);
dist += dd;
dat.tick = vr[i].tick;
dat.lat = vr[i].lat;
dat.lon = vr[i].lon;
dat.alt = vr[i].alt;
dat.speed = dd * 1e7 / dt;
dat.time = time;
dat.dist = dist;
vd.push_back(dat);
prev_time = time;
}
vr.clear();
// Analyze data
if (vd.size() < 2)
{
fprintf(stderr, "No enough data to analyze!\n");
return 1;
}
for (size_t i = 1; i + 1 < vd.size(); ++i)
{
vd[i].acc = (vd[i + 1].speed - vd[i].speed) * 2e7 / (vd[i + 1].tick - vd[i - 1].tick);
vd[i].speed = (vd[i].speed * (vd[i + 1].tick - vd[i].tick) + vd[i + 1].speed * (vd[i].tick - vd[i - 1].tick)) / (vd[i + 1].tick - vd[i - 1].tick);
}
vd.back().speed = 0.0;
vd.back().acc = 0.0;
double dist_r = 0.0, mx_speed = 0.0;
long long time_r = 0, time_w = 0;
for (size_t i = 1; i < vd.size(); ++i)
{
double dd = vd[i].dist - vd[i - 1].dist;
long long dt = vd[i].tick - vd[i - 1].tick;
if (vd[i].speed > running_threshold)
{
dist_r += dd;
time_r += dt;
if (vd[i].speed > mx_speed)
mx_speed = vd[i].speed;
}
else if (vd[i].speed > walking_threshold)
time_w += dt;
}
double dist_a = vd.back().dist, dist_w = dist_a - dist_r;
long long time_a = vd.back().tick - vd.front().tick, time_s = time_a - time_r - time_w;
printf("%30s: %.3lf km\n", "Total distance", dist_a * 1e-3);
printf("%30s: %.3lf km\n", "Running distance", dist_r * 1e-3);
printf("%30s: %.3lf km\n", "Walking distance", dist_w * 1e-3);
printf("%30s: %d h %d m %d.%03d s\n", "Total time", hour(time_a), minute(time_a), second(time_a), millisecond(time_a));
printf("%30s: %d h %d m %d.%03d s\n", "Running time", hour(time_r), minute(time_r), second(time_r), millisecond(time_r));
printf("%30s: %d h %d m %d.%03d s\n", "Walking time", hour(time_w), minute(time_w), second(time_w), millisecond(time_w));
printf("%30s: %d h %d m %d.%03d s\n", "Stopped time", hour(time_s), minute(time_s), second(time_s), millisecond(time_s));
printf("%30s: %.2lf m/s , %.2lf km/h\n", "Max speed", mx_speed, mx_speed * 3.6);
printf("%30s: %.2lf m/s , %.2lf km/h\n", "Average speed", dist_a * 1e7 / time_a, dist_a * 3.6e7 / time_a);
printf("%30s: %.2lf m/s , %.2lf km/h\n", "Average running speed", dist_r * 1e7 / time_r, dist_r * 3.6e7 / time_r);
printf("%30s: %.2lf m/s , %.2lf km/h\n", "Average walking speed", dist_w * 1e7 / time_w, dist_w * 3.6e7 / time_w);
// Export data to CSV
strcpy(buf, argv[1]);
change_extension(buf, ".csv");
fp = fopen(buf, "w");
if (!fp)
{
fprintf(stderr, "Can not write to %s\n", buf);
return 1;
}
fprintf(fp, "Time(s),Distance(km),Altitude(m),Speed(m/s),Speed(km/h),Acceleration(m/s^2)\n");
for (size_t i = 0; i < vd.size(); ++i)
fprintf(fp, "%.2lf,%.3lf,%.1lf,%.2lf,%.2lf,%.2lf\n", vd[i].time, vd[i].dist * 1e-3, vd[i].alt, vd[i].speed, vd[i].speed * 3.6, vd[i].acc);
fclose(fp);
// Export data to GPX
const char gpx_head[] = "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?>\n\n"
"<gpx xmlns=\"http://www.topografix.com/GPX/1/1\" version=\"1.1\" creator=\"Analyzer for WP7Tracker\">\n"
"<metadata><name>%s</name><link href=\"http://blog.csdn.net/coolypf/\"><text>coolypf</text></link></metadata>\n"
"<trk><name>%s</name><trkseg>\n";
const char gpx_tail[] = "</trkseg></trk></gpx>\n";
strcpy(buf, argv[1]);
change_extension(buf, ".wgs-84.gpx");
fp = fopen(buf, "w");
if (!fp)
{
fprintf(stderr, "Can not write to %s\n", buf);
return 1;
}
fprintf(fp, gpx_head, buf, buf);
for (size_t i = 0; i < vd.size(); ++i)
{
fprintf(fp, "<trkpt lat=\"%.6lf\" lon=\"%.6lf\"><ele>%.1lf</ele>", vd[i].lat, vd[i].lon, vd[i].alt);
long long tick = vd[i].tick;
fprintf(fp, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time></trkpt>\n",
date_time(tick, 0), date_time(tick, 2), date_time(tick, 3),
hour(tick), minute(tick), second(tick));
}
fprintf(fp, gpx_tail);
fclose(fp);
strcpy(buf, argv[1]);
change_extension(buf, ".gcj-02.gpx");
fp = fopen(buf, "w");
if (!fp)
{
fprintf(stderr, "Can not write to %s\n", buf);
return 1;
}
fprintf(fp, gpx_head, buf, buf);
for (size_t i = 0; i < vd.size(); ++i)
{
double lat, lon;
evil_transform(vd[i].lat, vd[i].lon, lat, lon);
vd[i].lat = lat;
vd[i].lon = lon;
fprintf(fp, "<trkpt lat=\"%.6lf\" lon=\"%.6lf\"><ele>%.1lf</ele>", vd[i].lat, vd[i].lon, vd[i].alt);
long long tick = vd[i].tick;
fprintf(fp, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time></trkpt>\n",
date_time(tick, 0), date_time(tick, 2), date_time(tick, 3),
hour(tick), minute(tick), second(tick));
}
fprintf(fp, gpx_tail);
fclose(fp);
strcpy(buf, argv[1]);
change_extension(buf, ".bd-09.gpx");
fp = fopen(buf, "w");
if (!fp)
{
fprintf(stderr, "Can not write to %s\n", buf);
return 1;
}
fprintf(fp, gpx_head, buf, buf);
for (size_t i = 0; i < vd.size(); ++i)
{
double lat, lon;
bd_encrypt(vd[i].lat, vd[i].lon, lat, lon);
vd[i].lat = lat;
vd[i].lon = lon;
fprintf(fp, "<trkpt lat=\"%.6lf\" lon=\"%.6lf\"><ele>%.1lf</ele>", vd[i].lat, vd[i].lon, vd[i].alt);
long long tick = vd[i].tick;
fprintf(fp, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time></trkpt>\n",
date_time(tick, 0), date_time(tick, 2), date_time(tick, 3),
hour(tick), minute(tick), second(tick));
}
fprintf(fp, gpx_tail);
fclose(fp);
return 0;
}
const double pi = 3.14159265358979324;
const double f = pi / 180.0;
const double x_pi = f * 3000.0;
const double a = 6378245.0;
const double ee = 0.00669342162296594323;
const double r = 6376500.0;
double distance(double lat1, double lon1, double lat2, double lon2)
{
double rad1 = lat1 * f, rad2 = lat2 * f;
double dlat = rad2 - rad1, dlon = (lon2 - lon1) * f;
double x = pow(sin(dlat / 2.0), 2.0) + (cos(rad1) * cos(rad2)) * pow(sin(dlon / 2.0), 2.0);
return r * 2.0 * atan2(sqrt(x), sqrt(1.0 - x));
}
static bool out_of_mars(double lat, double lon)
{
if (lon < 72.004 || lon > 137.8347)
return true;
if (lat < 0.8293 || lat > 55.8271)
return true;
return false;
}
static double transform_lat(double x, double y)
{
double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * sqrt(fabs(x));
ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0;
ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0;
return ret;
}
static double transform_lon(double x, double y)
{
double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(fabs(x));
ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0;
ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0;
return ret;
}
void evil_transform(double wg_lat, double wg_lon, double &mg_lat, double &mg_lon)
{
if (out_of_mars(wg_lat, wg_lon))
{
mg_lat = wg_lat;
mg_lon = wg_lon;
return;
}
double d_lat = transform_lat(wg_lon - 105.0, wg_lat - 35.0);
double d_lon = transform_lon(wg_lon - 105.0, wg_lat - 35.0);
double rad_lat = wg_lat / 180.0 * pi;
double magic = sin(rad_lat);
magic = 1 - ee * magic * magic;
double sqrt_magic = sqrt(magic);
d_lat = (d_lat * 180.0) / ((a * (1 - ee)) / (magic * sqrt_magic) * pi);
d_lon = (d_lon * 180.0) / (a / sqrt_magic * cos(rad_lat) * pi);
mg_lat = wg_lat + d_lat;
mg_lon = wg_lon + d_lon;
}
void bd_encrypt(double gg_lat, double gg_lon, double &bd_lat, double &bd_lon)
{
double x = gg_lon, y = gg_lat;
double z = sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi);
double theta = atan2(y, x) + 0.000003 * cos(x * x_pi);
bd_lon = z * cos(theta) + 0.0065;
bd_lat = z * sin(theta) + 0.006;
}
void change_extension(char *name, const char *ext)
{
int i = (int)strlen(name);
while (1)
{
if (i <= 0 || name[i] == '/' || name[i] =='\\')
{
i = (int)strlen(name);
break;
}
if (name[i] == '.')
break;
--i;
}
strcpy(name + i, ext);
}
int date_time(long long ticks, int part)
{
const int days_to_month_365[] = { 0, 0x1f, 0x3b, 90, 120, 0x97, 0xb5, 0xd4, 0xf3, 0x111, 0x130, 0x14e, 0x16d };
const int days_to_month_366[] = { 0, 0x1f, 60, 0x5b, 0x79, 0x98, 0xb6, 0xd5, 0xf4, 0x112, 0x131, 0x14f, 0x16e };
ticks &= 0x3fffffffffffffffll;
int num2 = (int)(ticks / 0xc92a69c000ll);
int num3 = num2 / 0x23ab1;
num2 -= num3 * 0x23ab1;
int num4 = num2 / 0x8eac;
if (num4 == 4)
num4 = 3;
num2 -= num4 * 0x8eac;
int num5 = num2 / 0x5b5;
num2 -= num5 * 0x5b5;
int num6 = num2 / 0x16d;
if (num6 == 4)
num6 = 3;
if (part == 0)
return num3 * 400 + num4 * 100 + num5 * 4 + num6 + 1;
num2 -= num6 * 0x16d;
if (part == 1)
return num2 + 1;
const int *num_array = (num6 == 3 && (num5 != 0x18 || num4 == 3)) ? days_to_month_366 : days_to_month_365;
int index = num2 >> 6;
while (num2 >= num_array[index])
index++;
if (part == 2)
return index;
return num2 - num_array[index - 1] + 1;
}
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