gps image-time attitude 拟合精度

pkg/auxilary/att.go

@@ -18,7 +18,7 @@ func (atts Attitudes) Save(attFile string) error {
 	defer f.Close()
 
 	for _, att := range atts.Atts {
-		content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3)
+		content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3)
 		f.WriteString(content)
 	}
 
@@ -112,7 +112,7 @@ func ExtractAttitude(aps []*AuxPlatform) *Attitudes {
 			sec, microsec = ap.UTCTimeSec, ap.Microsecond
 			att := Attitude{
 				UTCTimestampSec: float64(sec) + float64(ReferenceTime2000) +
-					float64((microsec))/1e6,
+					float64(transfromGPSandAttMicrosec(microsec))/1e6,
 				Q0: ap.QuatAttstarQ0,
 				Q1: ap.QuatAttstarQ1,
 				Q2: ap.QuatAttstarQ2,

pkg/auxilary/aux.go

@@ -48,6 +48,7 @@ func ExtractAux(auxfile string) ([]*AuxFrameHead, []*AuxFocalBox, []*AuxPlatform
 // 长光卫星姿态和GPS数据更新频率为 4 次/秒
 func transfromGPSandAttMicrosec(microsec uint32) uint32 {
 	unit := uint32(250000)
+	// return microsec
 
 	microsec = (microsec / unit) * unit
 

pkg/auxilary/gps.go

@@ -20,7 +20,7 @@ func (g GPSs) Save(gpsFile string) error {
 	defer f.Close()
 
 	for _, gps := range g.GPSs {
-		content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f %.8f %.8f\n",
+		content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f %.8f %.8f\n",
 			gps.UTCTimestampSec,
 			gps.X84, gps.Y84, gps.Z84,
 			gps.Vx84, gps.Vy84, gps.Vz84)
@@ -37,9 +37,9 @@ func (g GPSs) Lagrange(t float64) *GPS {
 	var gps_sample []*GPS
 	var idx int
 
-	if t < g.GPSs[0].UTCTimestampSec {
+	if t-g.GPSs[0].UTCTimestampSec < 1e-7 {
 		return g.GPSs[0]
-	} else if t > g.GPSs[len(g.GPSs)-1].UTCTimestampSec {
+	} else if t-g.GPSs[len(g.GPSs)-1].UTCTimestampSec > -1e-7 {
 		return g.GPSs[len(g.GPSs)-1]
 	}
 
@@ -98,7 +98,7 @@ func StoreGPS(aps []*AuxPlatform, gpsFile string) (*GPSs, error) {
 		interGPS.GPSs = append(interGPS.GPSs, gpss.Lagrange(t))
 	}
 
-	return gpss, interGPS.Save(gpsFile)
+	return gpss, gpss.Save(gpsFile)
 }
 
 func ExtractGPS(aps []*AuxPlatform) *GPSs {

pkg/auxilary/image_time.go

@@ -53,12 +53,15 @@ func (it *ImageTime) Interp(imgrow int, cross int) (float64, float64) {
 	return t, dt
 }
 
-func (it *ImageTime) Print(n int, cross int) {
-	f, _ := os.Create("log/image_time.txt")
+func (it *ImageTime) Store(imgtimeFile string) error {
+	f, err := os.Create(imgtimeFile)
+	if err != nil {
+		return err
+	}
 	defer f.Close()
-	for i := 0; i < n; i++ {
-		t, dt := it.Interp(i, cross)
-		s := fmt.Sprintf("%d %f %f\n", i, t, dt)
+	for _, a := range it.auxT {
+		s := fmt.Sprintf("%.6f\t%d\n", a.Tutc, a.Row)
 		f.WriteString(s)
 	}
+	return nil
 }