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mean coordinates

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eddyem 2015-07-01 11:30:13 +03:00
parent 5fb62b00ab
commit 139686f0bf
3 changed files with 108 additions and 70 deletions
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2
GPS/cmdlnopts.c
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@ -35,6 +35,7 @@ glob_pars Gdefault = {
,.polltmout = 10. ,.polltmout = 10.
,.stationary = 0 ,.stationary = 0
,.gettimediff = 0 ,.gettimediff = 0
,.meancoords = 0
}; };
/* /*
@ -57,6 +58,7 @@ myoption cmdlnopts[] = {
{"timeout", 1, NULL, 't', arg_double, APTR(&G.polltmout), N_("polling timeout")}, {"timeout", 1, NULL, 't', arg_double, APTR(&G.polltmout), N_("polling timeout")},
{"stationary",0, NULL, 's', arg_int, APTR(&G.stationary),N_("configure as stationary")}, {"stationary",0, NULL, 's', arg_int, APTR(&G.stationary),N_("configure as stationary")},
{"timediff",0, NULL, 'T', arg_int, APTR(&G.gettimediff),N_("calculate mean time difference")}, {"timediff",0, NULL, 'T', arg_int, APTR(&G.gettimediff),N_("calculate mean time difference")},
{"coords",0, NULL, 'C', arg_int, APTR(&G.meancoords), N_("calculate mean coordinates")},
// ... // ...
end_option end_option
}; };

1
GPS/cmdlnopts.h
View File

@ -48,6 +48,7 @@ typedef struct{
double polltmout; // polling timeout (program ends after this interval) double polltmout; // polling timeout (program ends after this interval)
int stationary; // configure as stationary int stationary; // configure as stationary
int gettimediff; // calculate mean time difference int gettimediff; // calculate mean time difference
int meancoords; // calculate mean coordinates
}glob_pars; }glob_pars;
glob_pars *parce_args(int argc, char **argv); glob_pars *parce_args(int argc, char **argv);

175
GPS/main.c
View File

@ -26,6 +26,7 @@
#include <assert.h> #include <assert.h>
#include <signal.h> #include <signal.h>
#include <time.h> #include <time.h>
#include <math.h> // sqrt
#ifndef PIDFILE #ifndef PIDFILE
@ -39,6 +40,7 @@ char *GPmsgs[] = {"GSV", "RMC", "GSA", "GGA", "GLL", "VTG"};
static void signals(int sig){ static void signals(int sig){
DBG("Get signal %d, quit.\n", sig); DBG("Get signal %d, quit.\n", sig);
unlink(PIDFILE);
restore_tty(); restore_tty();
exit(sig); exit(sig);
} }
@ -119,7 +121,7 @@ int timediff_N = 0;
* difference (in seconds) in system & GPS clock * difference (in seconds) in system & GPS clock
* @return system_time - GPS_time * @return system_time - GPS_time
*/ */
double timediff(int h, int m, float s){ double timediff(int h, int m, double s){
struct timeval tv; struct timeval tv;
gettimeofday(&tv, NULL); gettimeofday(&tv, NULL);
time_t tm0 = time(NULL); time_t tm0 = time(NULL);
@ -132,48 +134,8 @@ double timediff(int h, int m, float s){
return td; return td;
} }
double Latt_mean = 0., Long_mean = 0., Latt_sq = 0., Long_sq = 0.;
/* int Latt_N = 0, Long_N = 0;
* Satellites in View
* $GPGSV,NoMsg,MsgNo,NoSv,{,sv,elv,az,cno}*cs
* 1 = total number of GPGSV messages being output
* 2 = Number of this message
* 3 = Satellites in View
* 4-7 will be repeated 1..4 times
* sv = Satellite ID
* elv = Elevation, range 0..90deg
* az = Azimuth, range 0..359deg
* cno = SNR, range 0.99dB
* cs = control sum
* 3,1,11,01,68,278,,03,39,292,08,04,66,190,30,11,55,231,34*79
* 3,2,11,14,30,050,10,17,11,322,,19,09,202,,22,14,096,*74
* 3,3,11,23,20,232,30,31,43,118,33,32,76,352,*43
*/
void gsv(uint8_t *buf){
//DBG("gsv: %s\n", buf);
int Nrec = -1, Ncur, inview = 0;
static int sat_scanned = 0;
if(sscanf((char*)buf, "%d,%d,", &Nrec, &Ncur) != 2) goto ret;
SKIP(2);
if(sscanf((char*)buf, "%d,", &inview) != 1) goto ret;
if(inview < 1) goto ret;
NEXT();
if(Ncur == 1)
printf("%d satellites in view field: (No: ID, elevation, azimuth, SNR)\n", inview);
do{
int id, el, az, snr;
// there could be no "SNR" field if we can't find this satellite on sky
if(sscanf((char*)buf, "%d,%d,%d,%d,", &id, &el, &az, &snr) < 3) break;
printf(" (%d: %d, %d, %d, %d)", ++sat_scanned, id, el, az, snr);
SKIP(4);
}while(1);
ret:
if(inview < 1) printf("There's no GPS satellites in viewfield\n");
if(Nrec > 0 && Nrec == Ncur){
sat_scanned = 0;
printf("\n");
}
}
/** /**
* acquire last command * acquire last command
@ -269,6 +231,48 @@ printf("\n");
}while(!get_ACK(prec) && ++i < 11); }while(!get_ACK(prec) && ++i < 11);
} }
/*
* Satellites in View
* $GPGSV,NoMsg,MsgNo,NoSv,{,sv,elv,az,cno}*cs
* 1 = total number of GPGSV messages being output
* 2 = Number of this message
* 3 = Satellites in View
* 4-7 will be repeated 1..4 times
* sv = Satellite ID
* elv = Elevation, range 0..90deg
* az = Azimuth, range 0..359deg
* cno = SNR, range 0.99dB
* cs = control sum
* 3,1,11,01,68,278,,03,39,292,08,04,66,190,30,11,55,231,34*79
* 3,2,11,14,30,050,10,17,11,322,,19,09,202,,22,14,096,*74
* 3,3,11,23,20,232,30,31,43,118,33,32,76,352,*43
*/
void gsv(uint8_t *buf){
//DBG("gsv: %s\n", buf);
int Nrec = -1, Ncur, inview = 0;
static int sat_scanned = 0;
if(sscanf((char*)buf, "%d,%d,", &Nrec, &Ncur) != 2) goto ret;
SKIP(2);
if(sscanf((char*)buf, "%d,", &inview) != 1) goto ret;
if(inview < 1) goto ret;
NEXT();
if(Ncur == 1)
printf("%d satellites in view field: (No: ID, elevation, azimuth, SNR)\n", inview);
do{
int id, el, az, snr;
// there could be no "SNR" field if we can't find this satellite on sky
if(sscanf((char*)buf, "%d,%d,%d,%d,", &id, &el, &az, &snr) < 3) break;
printf(" (%d: %d, %d, %d, %d)", ++sat_scanned, id, el, az, snr);
SKIP(4);
}while(1);
ret:
if(inview < 1) printf("There's no GPS satellites in viewfield\n");
if(Nrec > 0 && Nrec == Ncur){
sat_scanned = 0;
printf("\n");
}
}
/* /*
* Recommended minimum specific GPS/Transit data * Recommended minimum specific GPS/Transit data
* $GPRMC,hhmmss,status,latitude,N,longitude,E,spd,cog,ddmmyy,mv,mvE,mode*cs * $GPRMC,hhmmss,status,latitude,N,longitude,E,spd,cog,ddmmyy,mv,mvE,mode*cs
@ -289,10 +293,9 @@ printf("\n");
void rmc(uint8_t *buf){ void rmc(uint8_t *buf){
//DBG("rmc: %s\n", buf); //DBG("rmc: %s\n", buf);
int H, M, LO, LA, d, m, y; int H, M, LO, LA, d, m, y;
float S; double S, longitude, lattitude, speed, track, mag;
float longitude, lattitude, speed, track, mag;
char varn = 'V', north = '0', east = '0', mageast = '0', mode = 'N'; char varn = 'V', north = '0', east = '0', mageast = '0', mode = 'N';
sscanf((char*)buf, "%2d%2d%f", &H, &M, &S); sscanf((char*)buf, "%2d%2d%lf", &H, &M, &S);
NEXT(); NEXT();
if(*buf != ',') varn = *buf; if(*buf != ',') varn = *buf;
if(varn != 'A') if(varn != 'A')
@ -302,41 +305,47 @@ void rmc(uint8_t *buf){
printf(" time: %02d:%02d:%05.2f", H, M, S); printf(" time: %02d:%02d:%05.2f", H, M, S);
printf(" timediff: %g", timediff(H, M, S)); printf(" timediff: %g", timediff(H, M, S));
NEXT(); NEXT();
sscanf((char*)buf, "%2d%f", &LA, &lattitude); sscanf((char*)buf, "%2d%lf", &LA, &lattitude);
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
north = *buf; north = *buf;
lattitude = (float)LA + lattitude / 60.; lattitude = (double)LA + lattitude / 60.;
if(north == 'S') lattitude = -lattitude; if(north == 'S') lattitude = -lattitude;
printf(" latt: %f", lattitude); printf(" latt: %g", lattitude);
Latt_mean += lattitude;
Latt_sq += lattitude*lattitude;
++Latt_N;
} }
NEXT(); NEXT();
sscanf((char*)buf, "%3d%f", &LO, &longitude); sscanf((char*)buf, "%3d%lf", &LO, &longitude);
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
east = *buf; east = *buf;
longitude = (float)LO + longitude / 60.; longitude = (double)LO + longitude / 60.;
if(east == 'W') longitude = -longitude; if(east == 'W') longitude = -longitude;
printf(" long: %f", longitude); printf(" long: %g", longitude);
Long_mean += longitude;
Long_sq += longitude*longitude;
++Long_N;
} }
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
sscanf((char*)buf, "%f", &speed); sscanf((char*)buf, "%lf", &speed);
printf(" speed: %fknots", speed); printf(" speed: %gknots", speed);
} }
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
sscanf((char*)buf, "%f", &track); sscanf((char*)buf, "%lf", &track);
printf(" track: %fdeg,True", track); printf(" track: %gdeg,True", track);
} }
NEXT(); NEXT();
if(sscanf((char*)buf, "%2d%2d%2d", &d, &m, &y) == 3) if(sscanf((char*)buf, "%2d%2d%2d", &d, &m, &y) == 3)
printf(" date(dd/mm/yy): %02d/%02d/%02d", d, m, y); printf(" date(dd/mm/yy): %02d/%02d/%02d", d, m, y);
NEXT(); NEXT();
sscanf((char*)buf, "%f,%c", &mag, &mageast); sscanf((char*)buf, "%lf,%c", &mag, &mageast);
if(mageast == 'E' || mageast == 'W'){ if(mageast == 'E' || mageast == 'W'){
if(mageast == 'W') mag = -mag; if(mageast == 'W') mag = -mag;
printf(" magnetic var: %f", mag); printf(" magnetic var: %g", mag);
} }
SKIP(2); SKIP(2);
if(*buf != ','){ if(*buf != ','){
@ -391,8 +400,8 @@ void gsa(uint8_t *buf){
for(i = 0; i < Nused; ++i) for(i = 0; i < Nused; ++i)
printf("%d, ", used[i]); printf("%d, ", used[i]);
} }
float pos, hor, vert; double pos, hor, vert;
if(sscanf((char*)buf, "%f,%f,%f", &pos, &hor, &vert) == 3){ if(sscanf((char*)buf, "%lf,%lf,%lf", &pos, &hor, &vert) == 3){
printf("DILUTION: pos=%.2f, hor=%.2f, vert=%.2f", pos, hor, vert); printf("DILUTION: pos=%.2f, hor=%.2f, vert=%.2f", pos, hor, vert);
} }
ret: ret:
@ -447,33 +456,39 @@ void txt(_U_ uint8_t *buf){
void pubx(uint8_t *buf){ void pubx(uint8_t *buf){
//DBG("pubx_00: %s\n", buf); //DBG("pubx_00: %s\n", buf);
int H, M, LO, LA, gps, glo, dr; int H, M, LO, LA, gps, glo, dr;
float S, longitude, lattitude, altitude, hacc, vacc, speed, track, vertspd, double S, longitude, lattitude, altitude, hacc, vacc, speed, track, vertspd,
age, hdop, vdop, tdop; age, hdop, vdop, tdop;
char north = '0', east = '0'; char north = '0', east = '0';
sscanf((char*)buf, "%2d%2d%f", &H, &M, &S); sscanf((char*)buf, "%2d%2d%lf", &H, &M, &S);
printf("time: %02d:%02d:%05.2f", H, M, S); printf("time: %02d:%02d:%05.2f", H, M, S);
printf(" timediff: %g", timediff(H, M, S)); printf(" timediff: %g", timediff(H, M, S));
NEXT(); NEXT();
sscanf((char*)buf, "%2d%f", &LA, &lattitude); sscanf((char*)buf, "%2d%lf", &LA, &lattitude);
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
north = *buf; north = *buf;
lattitude = (float)LA + lattitude / 60.; lattitude = (double)LA + lattitude / 60.;
if(north == 'S') lattitude = -lattitude; if(north == 'S') lattitude = -lattitude;
printf(" latt: %f", lattitude); printf(" latt: %g", lattitude);
Latt_mean += lattitude;
Latt_sq += lattitude*lattitude;
++Latt_N;
} }
NEXT(); NEXT();
sscanf((char*)buf, "%3d%f", &LO, &longitude); sscanf((char*)buf, "%3d%lf", &LO, &longitude);
NEXT(); NEXT();
if(*buf != ','){ if(*buf != ','){
east = *buf; east = *buf;
longitude = (float)LO + longitude / 60.; longitude = (double)LO + longitude / 60.;
if(east == 'W') longitude = -longitude; if(east == 'W') longitude = -longitude;
printf(" long: %f", longitude); printf(" long: %g", longitude);
Long_mean += longitude;
Long_sq += longitude*longitude;
++Long_N;
} }
NEXT(); NEXT();
#define FSCAN(par, nam) do{if(*buf != ','){sscanf((char*)buf, "%f", &par); \ #define FSCAN(par, nam) do{if(*buf != ','){sscanf((char*)buf, "%lf", &par); \
printf(" " nam ": %f", par);} NEXT();}while(0) printf(" " nam ": %g", par);} NEXT();}while(0)
FSCAN(altitude, "altitude"); FSCAN(altitude, "altitude");
if(*buf != ','){ if(*buf != ','){
printf(" nav. status: %c%c", buf[0], buf[1]); printf(" nav. status: %c%c", buf[0], buf[1]);
@ -628,6 +643,26 @@ int main(int argc, char **argv){
} }
if(GP->gettimediff) if(GP->gettimediff)
printf("\nAverage time difference (local-GPS) = %g seconds\n", timediff_aver/timediff_N); printf("\nAverage time difference (local-GPS) = %g seconds\n", timediff_aver/timediff_N);
if(GP->meancoords){
printf("\nAverage coordinates:\n\tLattitude");
double mean, std, s;
int d, m;
if(Latt_N){
mean = Latt_mean / Latt_N;
std = sqrt(Latt_sq/Latt_N - mean*mean);
d = (int)mean; m = (int)(60.*(mean-d)); s = 3600*fabs(mean-d-m/60.);
if(m < 0) m = -m;
printf(" = %.6f (%d %d' %.2f''), std = %g (%.2f'')\n", mean, d, m, s, std, std*3600.);
}else printf(": no data\n");
printf("\tLongitude");
if(Long_N){
mean = Long_mean / Long_N;
std = sqrt(Long_sq/Long_N - mean*mean);
d = (int)mean; m = (int)(60.*(mean-d)); s = 3600*fabs(mean-d-m/60.);
if(m < 0) m = -m;
printf(" = %.6f (%d %d' %.2f''), std = %g (%.2f'')\n", mean, d, m, s, std, std*3600.);
}else printf(": no data\n");
}
signals(0); signals(0);
return 0; return 0;
} }