python读取导航电文并计算卫星位置

python简单计算卫星位置

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前言

一、思路

总的可分为两个部分：获取导航参数和计算卫星位置。
①获取导航参数：首先讲导航星历中的数据切片，存入csv文件中，再读取csv文件的数据并赋值给各参数
②计算卫星位置：首先要进行时间数据的换算，然后依次计算各步骤即可

二、 自动读取导航星历并计算卫星位置

import csv
import math  as m

with open('D:\\学习课件\\GNSS\\brdc0320.22n\\brdc0320.22n', 'r') as f:
    if f == 0:
        print("不能打开文件！")
    else:
        print("导航文件打开成功！")
    nfile_lines = f.readlines()  # 按行读取N文件
    print(len(nfile_lines))
    f.close()



def start_num():  #定义数据记录的起始行
    for i in range(len(nfile_lines)):
        if nfile_lines[i].find('END OF HEADER')!=-1:
            start_num=i+1
    return start_num
n_dic_list=[]
 

n_data_lines_nums=int((len(nfile_lines)-start_num())/8)
print("一共%d组数据"%(n_data_lines_nums))

 
#第j组，第i行
for j in range(n_data_lines_nums):
    n_dic = {}
    for i in range(8):
        data_content = nfile_lines[start_num() + 8 * j + i]
        n_dic['数据组数'] = j + 1
        if i == 0: 
            n_dic['卫星PRN号'] = int(data_content.strip('\n')[0:2].strip(' '))
            n_dic['历元'] = data_content.strip('\n')[3:22]
            n_dic['卫星钟偏差(s)'] = float((data_content.strip('\n')[23:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))  # 利用字符串切片功能来进行字符串的修改
            n_dic['卫星钟漂移(s/s)'] = float((data_content.strip('\n')[42:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['卫星钟漂移速度(s/s*s)'] = float((data_content.strip('\n')[61:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))
            
        if i == 1:
            n_dic['IODE'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['C_rs'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['n'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['M0'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[60:79][-3:]).strip(' '))
        if i == 2:
            n_dic['C_uc'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['e'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['C_us'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['sqrt_A'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))
        if i == 3:
            n_dic['TEO'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['C_ic'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['OMEGA'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[ 42:60][-3:]).strip(' '))
            n_dic['C_is'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))
       
        if i == 4:
            n_dic['I_0'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['C_rc'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['w'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['OMEGA_DOT'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))
        if i == 5:
            n_dic['IDOT'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['L2_code'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['PS_week_num'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['L2_P_code'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))
        if i == 6:
            n_dic['卫星精度(m)'] = float((data_content.strip('\n')[4:22][0:-4] + 'e' + data_content.strip('\n')[4:22][-3:]).strip(' '))
            n_dic['卫星健康状态'] = float((data_content.strip('\n')[22:41][0:-4] + 'e' + data_content.strip('\n')[23:41][-3:]).strip(' '))
            n_dic['TGD'] = float((data_content.strip('\n')[41:60][0:-4] + 'e' + data_content.strip('\n')[42:60][-3:]).strip(' '))
            n_dic['IODC'] = float((data_content.strip('\n')[60:79][0:-4] + 'e' + data_content.strip('\n')[61:79][-3:]).strip(' '))

    n_dic_list.append(n_dic)


with open( 'D:\\学习课件\\GNSS\\brdc0320.csv', 'w', newline='') as f:
    header=['数据组数', '卫星PRN号', '历元', '卫星钟偏差(s)', '卫星钟漂移(s/s)', '卫星钟漂移速度(s/s*s)','IODE', 'C_rs', 'n', 'M0', 'C_uc', 'e', 'C_us', 'sqrt_A', 'TEO', 'C_ic', 'OMEGA', 'C_is','I_0', 'C_rc', 'w', 'OMEGA_DOT', 'IDOT', 'L2_code', 'PS_week_num', 'L2_P_code','卫星精度(m)', '卫星健康状态', 'TGD', 'IODC']
    writer = csv.DictWriter(f, fieldnames=header)
    writer.writeheader()
    writer.writerows(n_dic_list)
f.close()

with open('D:\\学习课件\\GNSS\\brdc0320.csv','rt') as csvfile:
    reader = csv.DictReader(csvfile)
    for row in reader:
        if row['数据组数']=='1':
            PRN=float(row["卫星PRN号"])
            TIME=row["历元"]
            year=int(TIME.strip('\n')[0:3])
            month=int(TIME.strip('\n')[3:6])
            day=int(TIME.strip('\n')[6:9])
            hour=int(TIME.strip('\n')[9:12])
            minute=int(TIME.strip('\n')[12:15])
            second=float(TIME.strip('\n')[15:20])
            a_0=float(row["卫星钟偏差(s)"]) 
            a_1=float(row["卫星钟漂移(s/s)"])
            a_2=float(row["卫星钟漂移速度(s/s*s)"])
            IODE=float(row["IODE"])
            C_rs=float(row["C_rs"])
            δn=float(row["n"])
            M0=float(row["M0"])
            C_uc=float(row["C_uc"])
            e=float(row["e"])
            C_us=float(row["C_us"])
            sqrt_A=float(row["sqrt_A"])
            TEO=float(row["TEO"])
            C_ic=float(row["C_ic"])
            OMEGA=float(row["OMEGA"])
            C_is=float(row["C_is"])
            I_0=float(row["I_0"])
            C_rc=float(row["C_rc"])
            w=float(row["w"])
            OMEGA_DOT=float(row["OMEGA_DOT"])
            IDOT=float(row["IDOT"])
            L2_code=float(row["L2_code"])
            PS_week_num=float(row["PS_week_num"])
            L2_P_code=float(row["L2_P_code"])
            #卫星精度(m)=2
            #卫星健康状态=0
            TGD=float(row["TGD"])
            IODC=float(row["IODC"])
            print(IODC)  
            print(sqrt_A)          



#卫星位置的计算 
def CulLocation(PRN,year,month,day,hour,minute,second,a_0,a_1,a_2,IDOT,C_rs,δn,M0,C_uc,e,C_us,sqrt_A,TEO,C_ic,OMEGA,C_is,I_0,C_rc,w,OMEGA_DOT,t1):
    #1.计算卫星运行平均角速度 GM:WGS84下的引力常数 =3.986005e14，a:长半径
    GM = 398600500000000
    n_0 = m.sqrt(GM)/m.pow(sqrt_A,3)
    n = n_0 + δn   

    #2.计算归化时间t_k 计算t时刻的卫星位置  UT：世界时 此处以小时为单位  
    UT = hour + (minute / 60.0) + (second / 3600); 
    #GPS时起始时刻1980年1月6日0点   year是两位数 需要转换到四位数  
    if year>=80:  
        if year==80 and month==1 and day<6 : 
            year = year + 2000  
        else:
            year = year + 1900   
    else:
        year = year + 2000 
    if month<=2 :  
        year = year - 1
        month = month + 12 # 1，2月视为前一年13，14月

    #需要将当前需计算的时刻先转换到儒略日再转换到GPS时间  
    JD = (365.25 * year) + int(30.6001 * (month + 1)) + day + UT / 24 + 1720981.5;  
    WN = int((JD - 2444244.5) / 7);  #WN:GPS_week number 目标时刻的GPS周 
    t_oc = (JD - 2444244.5 - 7.0 * WN) * 24 * 3600.0; #t_GPS:目标时刻的GPS秒  

    #对观测时刻t1进行钟差改正,注意：t1应是由接收机接收到的时间
    if t1 is None:
        t_k=0
    else:
        δt = a_0+a_1(t1-t_oc)+a_2(t1-t_oc)^2 
        t = t1-δt
        t_k = t-TEO
  
    # if t_k > 302400:
    #     t_k -= 604800 
    # else :
    #     t_k += 604800 

    #3.平近点角计算M_k = M_0+n*t_k
    print(M0)
    M_k = M0 + n * t_k #实际应该是乘t_k，但是没有接收机的观测时间，所以为了练手设t_k=0 

    #4.偏近点角计算 E_k  (迭代计算) E_k = M_k + e*sin(E_k)
    E= 0;  
    E1 = 1;  
    count = 0;  
    while abs(E1-E)>1e-10 :  
        count = count +1 
        E1 = E;  
        E = M_k +e*m.sin(E);  
        if count>1e8:  
            print("计算偏近点角时未收敛！") 
            break  


    #5.计算卫星的真近点角 
    V_k = m.atan((m.sqrt(1 - e*e) * m.sin(E))/( m.cos(E) - e));  
    
    #6.计算升交距角 u_0(φ_k), ω:卫星电文给出的近地点角距
    u_0=V_k+w 

    #7.摄动改正项 δu、δr、δi :升交距角u、卫星矢径r和轨道倾角i的摄动量
    δu=C_uc*m.cos(2*u_0)+C_us*m.sin(2*u_0)
    δr=C_rc*m.cos(2*u_0)+C_rs*m.sin(2*u_0)
    δi=C_ic*m.cos(2*u_0)+C_is*m.sin(2*u_0)

    #8.计算经过摄动改正的升交距角u_k、卫星矢径r_k和轨道倾角 i_k
    u=u_0+δu
    r=m.pow(sqrt_A,2)*(1-e*m.cos(E))+δr
    i=I_0+δi+IDOT * (t_k); #实际乘t_k=t-t_oe 

    #9.计算卫星在轨道平面坐标系的坐标,卫星在轨道平面直角坐标系（X轴指向升交点）中的坐标为：
    x_k=r*m.cos(u)
    y_k=r*m.sin(u)

    #10.观测时刻升交点经度Ω_k的计算，升交点经度Ω_k等于观测时刻升交点赤经Ω与格林尼治恒星时GAST之差  Ω_k=Ω_0+(ω_DOT-omega_e)*t_k-omega_e*t_oe
    omega_e = 7.292115e-5 #地球自转角速度  
    OMEGA_k= OMEGA + (OMEGA_DOT - omega_e) *t_k - omega_e * TEO;  #星历中给出的Omega即为Omega_o=Omega_t_oe-GAST_w

    #11.计算卫星在地固系中的直角坐标l
    X_k=x_k*m.cos(OMEGA_k)-y_k*m.cos(i)*m.sin(OMEGA_k)
    Y_k=x_k*m.sin(OMEGA_k)+y_k*m.cos(i)*m.cos(OMEGA_k)
    Z_k=y_k*m.sin(i)

    #12.计算卫星在协议地球坐标系中的坐标，考虑级移
    #[X,Y,Z]=[[1,0,X_P],[0,1,-Y_P],[-X_p,Y_P,1]]*[X_k,Y_k,Z_k]

    if month>12 :  # 恢复历元
        year = year + 1
        month = month - 12 

    print("历元：",year,"年",month,"月",day,"日",hour,"时",minute,"分",second,"秒","卫星PRN号:",PRN,"平均角速度:",n,"卫星平近点角:",M_k,"偏近点角:",E,"真近点角:",V_k,"升交距角:",u_0,"摄动改正项:",δu,δr,δi ,"经摄动改正后的升交距角、卫星矢径和轨道倾角:",u,r,i,"轨道平面坐标X,Y:",x_k,y_k,"观测时刻升交点经度:",OMEGA_k,"地固直角坐标系X:",X_k,"地固直角坐标系Y:",Y_k,"地固直角坐标系Z:",Z_k)


t1=None
CulLocation(PRN,year,month,day,hour,minute,second,a_0,a_1,a_2,IDOT,C_rs,δn,M0,C_uc,e,C_us,sqrt_A,TEO,C_ic,OMEGA,C_is,I_0,C_rc,w,OMEGA_DOT,t1)

结果：

注：1，2月视为前一年13，14月,所以最后有一个判断语句，恢复成历元
参考文章：

https://blog.csdn.net/m0_56180742/article/details/120942885
https://blog.csdn.net/weixin_39781323/artice/details/113371222