通过伪距单点定位解算卫星位置

输入导航文件既可解算卫星位置，解算结果除了展示在结果区外，还会在工作目录下新建一个RESULT.csv文件。
软件通过c++结合qt开发，运行速度较快。
核心计算代码如下

.cpp文件

// An highlighted block
#pragma once
#include <iostream>
#include <regex>
#include <cctype>
#include "Satellites.h"
using namespace std;
#define U 3.986005e+14	// WGS-84 中地球引力常数
#define E 7.29211567e-5 // 地球自转速率

Satellites::Satellites(string path1, string path2)
{
    vector<string> prn;
    vector<vector<long double>> vt;								// 二维动态数组
    vector<long double> vi;										// 一维动态数组
    this->inFile.open(path1, ios::in);									// 打开文件
    this->oFile.open(path2, ios::out | ios::trunc);
    if (this->inFile && this->oFile)													// 若文件打开成功则继续下面操作
    {
        string s;												// 存放读取的每一行字符串
        smatch m;												// 存放正则匹配到的元素
        regex r("G\\d\\d.*|-?\\d.\\d{12}e[-+]\\d\\d");			// 正则匹配每个卫星单元
        regex r1("\\d{4}|\\d\\d|-?\\d\\.\\d{12}e[+-]\\d\\d");	// 正则匹配非首行
        int i = 0;
        while (getline(this->inFile, s))								// 打开文件
        {
            if (++i == 3220) break;
            if (regex_search(s, m, r))							// 匹配条件为 True 进入
                if (regex_search(s, m, regex("G\\d\\d")))		// 首行则进入
                {
                    prn.push_back(s.substr(0, 3));				// 将卫星 prn 推入
                    vt.push_back(vi);							// 将之前的遍历作为一个推入 vt
                    vi.clear();									// 清空vi，为下一次遍历做准备
                    for (sregex_iterator it(s.begin() + 3, s.end(), r1), end_it; it != end_it; ++it)	// sregex_iterator 正则迭代作用
                        vi.push_back(stold(it->str()));			// 将匹配的每一个参数转为浮点型再推入vi
                }
                else
                    for (sregex_iterator it(s.begin(), s.end(), r1),
                        end_it; it != end_it; ++it) vi.push_back(stold(it->str()));			// 将匹配的每一个参数转为浮点型再推入vi
        }
        vt.push_back(vi);	// 将最后一次遍历的值推入 vt
        // 写入文档首行条目
        this->oFile << "n" << "," << "tk" << "," << "mk" << "," << "ek" << "," << "vk" << "," << "pa" << "," << "cu" << "," <<
            "cr" << "," << "ci" << "," << "uk" << "," << "rk" << "," << "ik" << "," << "xk" << "," << "yk" << "," << "dk" <<
            "," << "Xk" << "," << "Yk" << "," << "Zk" << endl;

    }
    else cout << "打开文件失败！请关闭 Excel 后重试！" << endl;	// 若文件打开失败则提示
    //cout << prn.size() << " " << vt.size() << " " << vt[0][0]  << endl;
    for (int i = 1; i < vt.size(); i++)	// 将数据存储在变量
    {
        cout << i << endl;
        this->prn = prn[i - 1];
        this->year = vt[i][0];
        this->month = vt[i][1];
        this->day = vt[i][2];
        this->hour = vt[i][3];
        this->min = vt[i][4];
        this->second = vt[i][5];
        this->af0 = vt[i][6];
        this->af1 = vt[i][7];
        this->af2 = vt[i][8];

        this->IODE = vt[i][9];
        this->Crs = vt[i][10];
        this->a_poor = vt[i][11];
        this->m0 = vt[i][12];

        this->Cuc = vt[i][13];
        this->e = vt[i][14];
        this->Cus = vt[i][15];
        this->sqrtA = vt[i][16];

        this->toe = vt[i][17];
        this->Cic = vt[i][18];
        this->Ra0 = vt[i][19];
        this->Cis = vt[i][20];

        this->i0 = vt[i][21];
        this->Crc = vt[i][22];
        this->w = vt[i][23];
        this->Ra = vt[i][24];

        this->i = vt[i][25];
        this->L2 = vt[i][26];
        this->g_week = vt[i][27];
        this->L2P = vt[i][28];

        this->acc = vt[i][29];
        this->state = vt[i][30];
        this->Tgd = vt[i][31];
        this->IDOC = vt[i][32];


        this->calData();		// 计算数据
        this->wdata();			// 存储数据

    }

}

// 析构函数，关闭文件
Satellites::~Satellites()
{
    this->inFile.close();		// 关闭文件
    this->oFile.close();				// 关闭文件
}

// 计算数据函数
void Satellites::calData()
{
    this->n = sqrt(U) / pow(this->sqrtA, 3) + this->a_poor; //	计算平均角速度 n
    this->tk = this->getgpst('s') - this->toe;				//	计算归化时间 tk
    this->mk = this->m0 + (this->n * this->tk);				// 观测时间 mk
    this->ek = this->mk;									// 计算偏近角
    long double temp = 0;
    while (fabs(this->ek - temp) > 0.10e-12)
    {
        temp = this->ek;
        this->ek = this->mk + (this->e * sin(temp));
    }
    this->vk = atan((sqrt(1 - pow(this->e, 2)) * sin(this->ek) / (cos(this->ek) - this->e)));			// 计算真近角 vk
    this->pa = this->vk + this->w;																		// 计算升交距角
    this->cu = (this->Cuc * cos(2 * this->pa)) + (this->Cus * sin(2 * this->pa));						// 计算摄动改正项
    this->cr = (this->Crc * cos(2 * this->pa)) + (this->Crs * sin(2 * this->pa));
    this->ci = (this->Cic * cos(2 * this->pa)) + (this->Cis * sin(2 * this->pa));
    this->uk = this->pa + this->cu;																		// 计算经过摄动改正的参数
    this->rk = pow(this->sqrtA, 2) * (1 - this->e * cos(this->ek)) + this->cr;
    this->ik = this->i0 + this->ci + (this->i * this->tk);
    this->xk = this->rk * cos(this->uk);																// 平面直角坐标系中的坐标
    this->yk = this->rk * sin(this->uk);
    this->dk = this->Ra0 + ((this->Ra - E) * this->tk) - (E * this->toe);								// 升交点纬度计算
    this->Xk = this->xk * cos(this->dk) - (this->yk * cos(this->ik) * sin(this->dk));					// 计算在地心固定坐标系中的直角坐标
    this->Yk = this->xk * sin(this->dk) + (this->yk * cos(this->ik) * sin(this->dk));
    this->Zk = this->yk * sin(this->ik);
}


// 计算每一年的天数
int Satellites::ydcount(int year)
{
    int count = 0;
    if (year == 1980)	count = 360;													// 若是 1980 年的话，按照算法 360 天
    else if ((year % 4 == 0) && (year % 100 != 0) || (year % 400 == 0))	count = 366;	// 若是闰年，则 1 年有 366 天
    else	count = 365;																// 若平闰年，则 1 年有 365 天
    return count;
}

// 计算一年中每个月的天数
int Satellites::ydcount(int year, int month)
{
    int count = 0;																			// 存储每个月的天数
    if (year == 1980 && month == 1) count = 25;												// 根据算法，1980 年 1 月算作 25 天
    else if (month == 4 || month == 6 || month == 9 || month == 11) count = 30;				// 四六九冬 30 整
    else if (month == 1 || month == 3 || month == 5 || month == 7 || month == 8 || month == 10 || month == 12) count = 31;
    else
    {
        if ((year % 4 == 0) && (year % 100 != 0) || (year % 400 == 0))	count = 29;			// 若是闰年，则 2 月有 29 天
        else count = 28;
    }
    return count;
}

// c = 'w' 则返回 gps 周， c = 's' 则返回 gpa 周内秒，默认返回周内秒
long double Satellites::getgpst(char c = 's')
{
    if (c != 'w' && c != 's') return -1;											// 若传递的参数不正确，则返回-1
    int days = this->day;
    for (int i = 1980; i < this->year; i++)	days += ydcount(i);						// 计算年天数
    for (int i = 1; i < this->month; i++)	days += ydcount(this->year, i);			// 计算月天数
    return c == 'w' ? days / 7 : (days % 7) * 86400 + (this->hour * 3600) + (this->min * 60) + this->second;
}

// 将数据写入文件
void Satellites::wdata()
{
//    cout << this->prn << endl;
    this->oFile << this->prn << this->n << "," << this->tk << "," << this->mk << "," << this->ek << ","
        << this->vk << "," << this->pa << "," << this->cu << "," << this->cr <<
        "," << this->ci << "," << this->uk << "," << this->rk << "," << this->ik
        << "," << this->xk << "," << this->yk << "," << this->dk << "," << this->Xk <<
        "," << this->Yk << "," << this->Zk << endl;

}

// A code block
.h文件

// An highlighted block
#pragma once
#include <vector>
#include <fstream>
#include <cmath>
#include <string>
#include<QOpenGLWindow>
using namespace std;

class Satellites
{
public:
    Satellites(string path, string path2);
    ~Satellites();
    void calData();
    static int ydcount(int year);					// 获取每一年的天数
    static int ydcount(int year, int month);		// 获取每一个月的天数
    long double getgpst(char c);					// 计算 GPS 周或 周内秒
    void wdata();						// 输出计算结果

private:
    long double n, tk, mk, ek, vk, pa, cu, cr, ci, uk, rk, ik, xk, yk, dk, Xk, Yk, Zk, X, Y, Z;		// 平均角速度 n
    ifstream inFile;
    ofstream oFile;

    string prn;	// 卫星号
    int year, month, day, hour, min, second;	// 年，月，日，时，分，秒
    long double af0;	// 卫星钟差
    long double af1;	// 卫星钟速
    long double af2;	// 卫星钟速变率

    long double IODE;	// 数据龄期
    long double Crs;	// 轨道半径正弦调和项改正的振幅
    long double a_poor;	// 平均角速度之差
    long double m0;		// 平近点角

    long double Cuc;	// 纬度幅角的余弦调和项改正的振幅
    long double e;		// 轨道偏心率
    long double Cus;	// 纬度幅角的余弦调和项改正的振幅
    long double sqrtA;	// 轨道长半径的平方根

    long double toe;	// 轨道参数的参考时间
    long double Cic;	// 轨道倾角的余弦调和项改正的振幅
    long double Ra0;	// 升交点赤经
    long double Cis;	// 轨道倾角的正弦调和项改正的振幅

    long double i0;		// 轨道倾角
    long double Crc;	// 轨道半径的余弦调和项改正的振幅
    long double w;		// 近地点角距
    long double Ra;		// 升焦点赤经变化率

    long double i;		// 倾角变化率
    long double L2;		// L2上的码
    long double g_week;	// GPS 周数
    long double L2P;	// L2上的P码

    long double acc;	// 卫星精度
    long double state;	// 健康状态
    long double Tgd;	// 电离层时延迟差
    long double IDOC;	// 星钟的数据龄期

    long double s_time;	// 电文发送时刻
    long double f_val;	// 拟合区间
};