GPS单点定位算法是通过接收卫星信号，计算出自身位置的一种方法。下面是一个简单的C语言实现：
```c
#include <stdio.h>
#include <math.h>
#define PI 3.14159265358979323846
#define c 299792458.0
#define L1 1575.42e6
#define L2 1227.6e6
#define f1 L1
#define f2 L2
typedef struct {
double x;
double y;
double z;
} XYZ;
typedef struct {
double latitude;
double longitude;
double altitude;
} LLH;
double R = 6378137.0;
double e = 0.0818191908425;
double deg2rad(double deg) {
return deg * PI / 180.0;
}
double rad2deg(double rad) {
return rad * 180.0 / PI;
}
double getDistance(XYZ p1, XYZ p2) {
double dx = p1.x - p2.x;
double dy = p1.y - p2.y;
double dz = p1.z - p2.z;
return sqrt(dx*dx + dy*dy + dz*dz);
}
double getElevationAngle(XYZ p1, XYZ p2) {
double dx = p2.x - p1.x;
double dy = p2.y - p1.y;
double dz = p2.z - p1.z;
double r = sqrt(dx*dx + dy*dy + dz*dz);
double lat1 = atan(p1.z / sqrt(p1.x*p1.x + p1.y*p1.y));
double lon1 = atan2(p1.y, p1.x);
double lat2 = atan(p2.z / sqrt(p2.x*p2.x + p2.y*p2.y));
double lon2 = atan2(p2.y, p2.x);
double dlat = lat2 - lat1;
double dlon = lon2 - lon1;
double a = sin(dlat / 2) * sin(dlat / 2) + cos(lat1) * cos(lat2) * sin(dlon / 2) * sin(dlon / 2);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
double h = r * sin(c);
double theta = atan2(dz, sqrt(dx*dx + dy*dy));
return atan(h / (r - h / (1 + e*e*cos(theta)*cos(theta))));
}
double getSatelliteDistance(double pr1, double pr2, double t1, double t2) {
double a = pow(c / f1 * (t2 - t1) + pr1, 2);
double b = pow(c / f2 * (t2 - t1) + pr2, 2);
double d = sqrt(a - b) / (1 - f2*f2 / f1*f1);
return d;
}
void getLocation(XYZ* positions, double* pr, double* t, int n, LLH* llh) {
double x, y, z, rho, phi, lambda, h, N;
double delta = 1.0;
XYZ deltaPos;
deltaPos.x = delta;
deltaPos.y = delta;
deltaPos.z = delta;
while (delta > 1e-5) {
x = positions[0].x;
y = positions[0].y;
z = positions[0].z;
for (int i = 0; i < n; i++) {
double d = getSatelliteDistance(pr[i], 0, t[i], 0);
double e = getElevationAngle(positions[i], deltaPos);
x += (positions[i].x - deltaPos.x) / d * (d - pr[i]) / e;
y += (positions[i].y - deltaPos.y) / d * (d - pr[i]) / e;
z += (positions[i].z - deltaPos.z) / d * (d - pr[i]) / e;
}
deltaPos.x = x;
deltaPos.y = y;
deltaPos.z = z;
rho = sqrt(x*x + y*y);
phi = atan2(z, rho);
lambda = atan2(y, x);
N = R / sqrt(1 - e*e*sin(phi)*sin(phi));
h = rho / cos(phi) - N;
delta = getDistance(deltaPos, positions[0]);
positions[0].x = x;
positions[0].y = y;
positions[0].z = z;
}
llh->latitude = rad2deg(phi);
llh->longitude = rad2deg(lambda);
llh->altitude = h;
}
int main() {
int n = 4;
double pr[] = { 2.0e7, 2.1e7, 2.2e7, 2.3e7 };
double t[] = { 0.0, 0.0, 0.0, 0.0 };
XYZ positions[] = {
{ 2.0e7, 0.0, 0.0 },
{ 0.0, 2.1e7, 0.0 },
{ -2.2e7, 0.0, 0.0 },
{ 0.0, -2.3e7, 0.0 }
};
LLH llh;
getLocation(positions, pr, t, n, &llh);
printf("latitude: %f\n", llh.latitude);
printf("longitude: %f\n", llh.longitude);
printf("altitude: %f\n", llh.altitude);
return 0;
}
```
这是一个简单的实现，实际上还有许多细节需要考虑，例如钟差、电离层延迟等。如果需要更精确的定位，可以参考GPS接收机的设计。
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