VS中读取NMEA数据进行定位精度分析

NMEA数据为Ucenter采集，通过读取NMEA数据，求出定位精度！

实现代码如下:

其中，rtklib.h 和 rtkcmn.c 直接从SRC文件夹中添加不需要修改！

main.c  和 solution.c 代码如下：

main.c 代码如下：

// main.c
#define _CRT_SECURE_NO_WARNINGS
#include "rtklib.h"
#define MAX 1024
 
int main() {
	//文件路径
	FILE *fp;
	char buff[MAX] = { 0 };
	 ;
	//char path[] = "E:/专业资料/网友交流/解析Ucenter，NMEA数据/u-cent数据/01.ubx";
	char path[] = "E:/专业资料/网友交流/解析Ucenter，NMEA数据/u-cent数据/02.ubx";
	if ((fp = fopen(path, "r")) == NULL) {
		printf("读取失败！");
		exit(EXIT_FAILURE);
	}
	// 处理函数
	pro_nmea(fp, buff);
	fclose(fp);
	return 0;
}

 

solution.c 代码如下：

#include <ctype.h>
#include "rtklib.h"

/* constants and macros ------------------------------------------------------*/

#define SQR(x)     ((x)<0.0?-(x)*(x):(x)*(x))
#define SQRT(x)    ((x)<0.0||(x)!=(x)?0.0:sqrt(x))

#define MAXFIELD   64           /* max number of fields in a record */
#define MAXNMEA    256          /* max length of nmea sentence */
#define MAX 1024 //nmea 语句一行最大字符数
#define KNOT2M     0.514444444  /* m/knot */

static const int solq_nmea[]={  /* nmea quality flags to rtklib sol quality */
    /* nmea 0183 v.2.3 quality flags: */
    /*  0=invalid, 1=gps fix (sps), 2=dgps fix, 3=pps fix, 4=rtk, 5=float rtk */
    /*  6=estimated (dead reckoning), 7=manual input, 8=simulation */
    
    SOLQ_NONE ,SOLQ_SINGLE, SOLQ_DGPS, SOLQ_PPP , SOLQ_FIX,
    SOLQ_FLOAT,SOLQ_DR    , SOLQ_NONE, SOLQ_NONE, SOLQ_NONE
};
/* solution option to field separator ----------------------------------------*/
static const char *opt2sep(const solopt_t *opt)
{
    if (!*opt->sep) return " ";
    else if (!strcmp(opt->sep,"\\t")) return "\t";
    return opt->sep;
}
/* separate fields -----------------------------------------------------------*/
static int tonum(char *buff, const char *sep, double *v)
{
    int n,len=(int)strlen(sep);
    char *p,*q;
    
    for (p=buff,n=0;n<MAXFIELD;p=q+len) {
        if ((q=strstr(p,sep))) *q='\0'; 
        if (*p) v[n++]=atof(p);
        if (!q) break;
    }
    return n;
}
 
/* convert ddmm.mm in nmea format to deg -------------------------------------*/
static double dmm2deg(double dmm)
{
    return floor(dmm/100.0)+fmod(dmm,100.0)/60.0;
}
/* convert time in nmea format to time ---------------------------------------*/
static void septime(double t, double *t1, double *t2, double *t3)
{
    *t1=floor(t/10000.0);
    t-=*t1*10000.0;
    *t2=floor(t/100.0);
    *t3=t-*t2*100.0;
}
 
/* decode nmea gxrmc: recommended minumum data for gps -----------------------*/
static int decode_nmearmc(char **val, int n, sol_t *sol)
{
    double tod=0.0,lat=0.0,lon=0.0,vel=0.0,dir=0.0,date=0.0,ang=0.0,ep[6];
    double pos[3]={0};
    char act=' ',ns='N',ew='E',mew='E',mode='A';
    int i;
    
    trace(4,"decode_nmearmc: n=%d\n",n);
    
    for (i=0;i<n;i++) {
        switch (i) {
            case  0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
            case  1: act =*val[i];      break; /* A=active,V=void */
            case  2: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
            case  3: ns  =*val[i];      break; /* N=north,S=south */
            case  4: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
            case  5: ew  =*val[i];      break; /* E=east,W=west */
            case  6: vel =atof(val[i]); break; /* speed (knots) */
            case  7: dir =atof(val[i]); break; /* track angle (deg) */
            case  8: date=atof(val[i]); break; /* date (ddmmyy) */
            case  9: ang =atof(val[i]); break; /* magnetic variation */
            case 10: mew =*val[i];      break; /* E=east,W=west */
            case 11: mode=*val[i];      break; /* mode indicator (>nmea 2) */
                                      /* A=autonomous,D=differential */
                                      /* E=estimated,N=not valid,S=simulator */
        }
    }
    if ((act!='A'&&act!='V')||(ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
        trace(2,"invalid nmea gprmc format\n");
        return 0;
    }
    pos[0]=(ns=='S'?-1.0:1.0)*dmm2deg(lat)*D2R;
    pos[1]=(ew=='W'?-1.0:1.0)*dmm2deg(lon)*D2R;
    septime(date,ep+2,ep+1,ep);
    septime(tod,ep+3,ep+4,ep+5);
    ep[0]+=ep[0]<80.0?2000.0:1900.0;
    sol->time=utc2gpst(epoch2time(ep));
    pos2ecef(pos,sol->rr);
    sol->stat=mode=='D'?SOLQ_DGPS:SOLQ_SINGLE;
    sol->ns=0;
    
    sol->type=0; /* postion type = xyz */
    
    trace(5,"decode_nmearmc: %s rr=%.3f %.3f %.3f stat=%d ns=%d vel=%.2f dir=%.0f ang=%.0f mew=%c mode=%c\n",
          time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
          vel,dir,ang,mew,mode);
    
    return 2; /* update time */
}
/* decode nmea gxzda: utc day,month,year and local time zone offset ----------*/
static int decode_nmeazda(char **val, int n, sol_t *sol)
{
    double tod=0.0,ep[6]={0};
    int i;
    
    trace(4,"decode_nmeazda: n=%d\n",n);
    
    for (i=0;i<n;i++) {
        switch (i) {
            case  0: tod  =atof(val[i]); break; /* time in utc (hhmmss) */
            case  1: ep[2]=atof(val[i]); break; /* day (0-31) */
            case  2: ep[1]=atof(val[i]); break; /* mon (1-12) */
            case  3: ep[0]=atof(val[i]); break; /* year */
        }
    }
    septime(tod,ep+3,ep+4,ep+5);
    sol->time=utc2gpst(epoch2time(ep));
    sol->ns=0;
    
    trace(5,"decode_nmeazda: %s\n",time_str(sol->time,0));
    
    return 2; /* update time */
}
/* decode nmea gxgga: fix information ----------------------------------------*/
static int decode_nmeagga(char **val, int n, sol_t *sol)
{
    gtime_t time;
    double tod=0.0,lat=0.0,lon=0.0,hdop=0.0,alt=0.0,msl=0.0,ep[6],tt;
    double pos[3]={0};
    char ns='N',ew='E',ua=' ',um=' ';
    int i,solq=0,nrcv=0;
 
    trace(4,"decode_nmeagga: n=%d\n",n);
    
    for (i=0;i<n;i++) {
        switch (i) {
            case  0: tod =atof(val[i]); break; /* time in utc (hhmmss) */
            case  1: lat =atof(val[i]); break; /* latitude (ddmm.mmm) */
            case  2: ns  =*val[i];      break; /* N=north,S=south */
            case  3: lon =atof(val[i]); break; /* longitude (dddmm.mmm) */
            case  4: ew  =*val[i];      break; /* E=east,W=west */
            case  5: solq=atoi(val[i]); break; /* fix quality */
            case  6: nrcv=atoi(val[i]); break; /* # of satellite tracked */
            case  7: hdop=atof(val[i]); break; /* hdop */
            case  8: alt =atof(val[i]); break; /* altitude in msl */
            case  9: ua  =*val[i];      break; /* unit (M) */
            case 10: msl =atof(val[i]); break; /* height of geoid */
            case 11: um  =*val[i];      break; /* unit (M) */
        }
    }
    if ((ns!='N'&&ns!='S')||(ew!='E'&&ew!='W')) {
        trace(2,"invalid nmea gpgga format\n");
        return 0;
    }
    if (sol->time.time==0.0) {
        trace(2,"no date info for nmea gpgga\n");
        return 0;
    }
    pos[0]=(ns=='N'?1.0:-1.0)*dmm2deg(lat)*D2R;
    pos[1]=(ew=='E'?1.0:-1.0)*dmm2deg(lon)*D2R;
    pos[2]=alt+msl;
    
    time2epoch(sol->time,ep);
    septime(tod,ep+3,ep+4,ep+5);
    time=utc2gpst(epoch2time(ep));
    tt=timediff(time,sol->time);
    if      (tt<-43200.0) sol->time=timeadd(time, 86400.0);
    else if (tt> 43200.0) sol->time=timeadd(time,-86400.0);
    else sol->time=time;
    pos2ecef(pos,sol->rr);
    sol->stat=0<=solq&&solq<=8?solq_nmea[solq]:SOLQ_NONE;
    sol->ns=nrcv;
    
    sol->type=0; /* postion type = xyz */
    
    trace(5,"decode_nmeagga: %s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n",
          time_str(sol->time,0),sol->rr[0],sol->rr[1],sol->rr[2],sol->stat,sol->ns,
          hdop,ua,um);
    //打印出来：时间、坐标、定位状态、定位卫星数、hdop、
	//printf("%s rr=%.3f %.3f %.3f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n", time_str(sol->time, 0), sol->rr[0], sol->rr[1], 
		//sol->rr[2], sol->stat, sol->ns,hdop, ua, um);
	printf("%s rr=%.7f %.7f %.7f stat=%d ns=%d hdop=%.1f ua=%c um=%c\n", time_str(sol->time, 1), pos[0]*R2D, pos[1]*R2D,
		pos[2], sol->stat, sol->ns, hdop, ua, um);
 
    return 1;
}
 
/* decode nmea ---------------------------------------------------------------*/
static int decode_nmea(char *buff, sol_t *sol)
{
    char *p,*q,*val[MAXFIELD]; //指针数组，每一个元素为指针
    int n=0;
    
    trace(4,"decode_nmea: buff=%s\n",buff);
    
    /* parse fields */
    for (p=buff;*p&&n<MAXFIELD;p=q+1) {
        if ((q=strchr(p,','))||(q=strchr(p,'*'))) {
            val[n++]=p; *q='\0';
        }
        else break;
    }
    if (!strcmp(val[0]+3,"RMC")) { /* $xxRMC */
        return decode_nmearmc(val+1,n-1,sol);
    }
    else if (!strcmp(val[0]+3,"ZDA")) { /* $xxZDA */
        return decode_nmeazda(val+1,n-1,sol);
    }
    else if (!strcmp(val[0]+3,"GGA")) { /* $xxGGA */
        return decode_nmeagga(val+1,n-1,sol);
    }
    return 0;
}
// 处理函数
//FILE *fp;
//extern buff[MAX];
sol_t sol = {0};
extern pro_nmea(fp,buff) {

	while (fgets(buff, MAX, fp))
	{
		decode_nmea(buff, &sol);
	}
 
}

运行结果如下：

参考：

1、GPS - NMEA sentence information

2、http://www.leapsecond.com/java/gpsclock.htm