127 lines
2.8 KiB
Go
127 lines
2.8 KiB
Go
package auxilary
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import (
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"fmt"
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"math"
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"os"
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"starwiz.cn/sjy01/image-proc/pkg/utils"
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)
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type GPSs struct {
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GPSs []*GPS
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}
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func (g GPSs) Save(gpsFile string) error {
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f, err := os.Create(gpsFile)
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if err != nil {
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return err
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}
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defer f.Close()
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for _, gps := range g.GPSs {
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content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f %.8f %.8f\n",
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gps.UTCTimestampSec,
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gps.X84, gps.Y84, gps.Z84,
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gps.Vx84, gps.Vy84, gps.Vz84)
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f.WriteString(content)
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}
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return nil
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}
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// 采用拉格朗日内插方法获得gps位置
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// 输入：t为UTC时间戳，单位为秒
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func (g GPSs) Lagrange(t float64) *GPS {
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// 找到扫描行成像时刻前后四个时间点的位置矢量
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var gps_sample []*GPS
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var idx int
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if t < g.GPSs[0].UTCTimestampSec {
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return g.GPSs[0]
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} else if t > g.GPSs[len(g.GPSs)-1].UTCTimestampSec {
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return g.GPSs[len(g.GPSs)-1]
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}
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for i, g := range g.GPSs {
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if g.UTCTimestampSec <= t {
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idx = i
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}
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}
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idx0 := int(math.Max(0, float64(idx-3)))
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for i := idx0; i <= idx; i++ {
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gps_sample = append(gps_sample, g.GPSs[i])
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}
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idx1 := int(math.Min(float64(len(g.GPSs))-1, float64(idx+1)))
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idx2 := int(math.Min(float64(len(g.GPSs))-1, float64(idx+4)))
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for i := idx1; i <= idx2; i++ {
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gps_sample = append(gps_sample, g.GPSs[i])
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}
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var x, y, z, tt []float64
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for i := 0; i < len(gps_sample); i++ {
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tt = append(tt, gps_sample[i].UTCTimestampSec)
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x = append(x, gps_sample[i].X84)
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y = append(y, gps_sample[i].Y84)
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z = append(z, gps_sample[i].Z84)
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}
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px := utils.InterpLagrange(tt, x, t)
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py := utils.InterpLagrange(tt, y, t)
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pz := utils.InterpLagrange(tt, z, t)
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return &GPS{
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UTCTimestampSec: t,
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X84: px,
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Y84: py,
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Z84: pz,
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Vx84: g.GPSs[idx].Vx84,
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Vy84: g.GPSs[idx].Vy84,
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Vz84: g.GPSs[idx].Vz84,
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}
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}
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type GPS struct {
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UTCTimestampSec float64
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X84, Y84, Z84 float64
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Vx84, Vy84, Vz84 float64
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}
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func StoreGPS(aps []*AuxPlatform, gpsFile string) (*GPSs, error) {
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gpss := ExtractGPS(aps)
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var interGPS GPSs
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for _, gps := range gpss.GPSs {
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interGPS.GPSs = append(interGPS.GPSs, gps)
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t := gps.UTCTimestampSec + 0.098678123
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interGPS.GPSs = append(interGPS.GPSs, gpss.Lagrange(t))
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}
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return gpss, interGPS.Save(gpsFile)
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}
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func ExtractGPS(aps []*AuxPlatform) *GPSs {
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var gpss GPSs
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var sec, microsec uint32
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for _, ap := range aps {
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if ap.UTCTimeSec != sec || ap.Microsecond != microsec {
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sec, microsec = ap.UTCTimeSec, ap.Microsecond
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gps := GPS{
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UTCTimestampSec: float64(sec) + float64(ReferenceTime2000) +
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float64(transfromGPSandAttMicrosec(microsec))/1e6,
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X84: ap.W84PosX,
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Y84: ap.W84PosY,
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Z84: ap.W84PosZ,
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Vx84: ap.W84VelX,
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Vy84: ap.W84VelY,
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Vz84: ap.W84VelZ,
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}
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gpss.GPSs = append(gpss.GPSs, &gps)
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}
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}
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return &gpss
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}
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