CentOS7系统上的GPSTK示例代码调试 & 运行结果 & 心得
下载的源码程序包中，共有16个例子，这里记录它们的调试及运行结果，尤其是哪些可用，哪些不可用，今后使用时用作参考。
总结：
（1）在 18 个示例程序中，example16 和 example17 编译报错，example7 和 example12 编译正常但是运行时报错（“已放弃（吐核）”），example3 运行正常但结果错误，其余程序可以正常运行。
（2）对库文件 libgpstk.so 文件的依赖，使库内函数的调试很麻烦：这是因为在安装 GPSTK 时由编译 cmake 和安装命令 sudo make install 生成了libgpstk.so 文件，这就与源代码切断了联系；后续对源代码做的修改，需要再次执行 GPSTK 的编译和安装命令才能更新 libgpstk.so 尤其是安装命令需要10－20分钟，比较耗时。而且对 libgpstk.so 文件的调试也很麻烦，它不能方便地设置断点， 不方便查看程序的跳转和变量，令调试工作一度陷入困顿中。
（3）鉴于 example3.cpp 程序中关于 P1 & P2 只能识别出 P1 变量， 以及 Rinex 3.02 文件中不支持含有北斗卫星观测文件的问题，我们最终放弃了对 GPSTK 源代码的依赖，转而自行开发相应的读取程序，以避开其中的 bug。
各程序的运行示例详列在此。
1. example1.cpp
$ ../example1
Hello world!
The current civil time is // :: UTC
The current year is
The current day of year is
The current second of day is 30537.5
The current full GPS week is
The current short GPS week is
The current day of GPS week is
The current second of GPS week is
The current Modified Julian Date is 57911.353443289 UTC
2. example2.cpp, OK。
自动生成新文件：bahr1620.04o.new
./example2
3. example3.cpp, 看似正常，其实有误！
[She@she-centos7 examples]$ ./example3
Required argument is a RINEX obs file.
[She@she-centos7 examples]$ ./example3 bahr1620.04o
Name your PRN of interest (by number: through ):
Reading bahr1620.04o.
---------------------------------- REQUIRED ----------------------------------
Rinex Version 2.10, File type Observation, System G (GPS).
Prgm: GFW - ROW, Run: // ::, By: NIMA
Marker type: .
Observer : NIMA, Agency: NATIONAL IMAGERY AND MAPPING AGENCY
Rec#: , Type: ASHTECH Z-XII3, Vers: 1Y07-1DY4
Antenna # : , Type : ASH700936B_M SNOW
Position (XYZ,m) : (3633909.1016, 4425275.5033, 2799861.2736).
Antenna Delta (HEN,m) : (3.1220, 0.0000, 0.0000).
GPS Observation types ():
Type # (L1C) L1 GPSC/A phase
Type # (L2X) L2 GPSC2L+M phase
Type # (C1C) L1 GPSC/A pseudorange
Type # (C1P) L1 GPSP pseudorange
Type # (C2W) L2 GPScodelessZ pseudorange
Type # (D1C) L1 GPSC/A doppler
Type # (D2X) L2 GPSC2L+M doppler
Type # (S1C) L1 GPSC/A snr
Type # (S2X) L2 GPSC2L+M snr
Time of first obs // ::00.000 UNK
(This header is VALID)
---------------------------------- OPTIONAL ----------------------------------
Marker number : 24901M002
Signal Strenth Unit =
Interval = 30.000
Wavelength factor L1: L2:
Comments () :
Data are thinned (not smoothed) 30s. observations
-------------------------------- END OF HEADER --------------------------------
text :GC2P RinexObsID is not stored!.
location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/FileHandling/RINEX3/Rinex3ObsHeader.cpp:
实际上，该观测文件的观测变量包括 P1 和 P2 参量，但是该程序却只能读出 P1 的值，找不到 P2 的值，导致程序中断退出。
[She@she-centos7 examples]$ cat bahr1620.04o | grep "# / TYPES OF OBSERV"
L1 L2 C1 P1 P2 D1 D2 S1 S2# / TYPES OF OBSERV
4. example4.cpp， OK。
[She@she-centos7 examples]$ ./example4 bahr1620.04o bahr1620.04n
3633917.14508 4425281.93387 2799868.07476
3633916.70007 4425281.95696 2799867.33565
3633916.53802 4425282.23082 2799867.57637
3633917.38703 4425282.2806 2799867.85073
3633917.09456 4425282.76769 2799868.04387
3633916.55241 4425282.22131 2799867.29408
3633917.55883 4425282.49571 2799867.32582
3633917.44541 4425281.83514 2799867.2195
3633917.31666 4425281.71065 2799867.09384
3633917.19143 4425281.94326 2799867.20896
...
5. example5.cpp，OK。
[She@she-centos7 examples]$ ./example5
Required option -i | --datainput was not found.
Required option -n | --navinput was not found.
Usage: example5 [OPTION] ... Program to print the position solution in ECEF and longitude, latitude, height,
based in C1 and given a RINEX observations file and a RINEX broadcast navigation
file. The output is:
Time(sec) X(m) Y(m) Z(m) Lon(deg) Lat(deg) Height(m) Required arguments:
-i, --datainput=ARG [-i|--datainput] Name of RINEX observations file.
-n, --navinput=ARG [-n|--navinput] Name of RINEX broadcast navigation file. Optional arguments:
-d, --debug Increase debug level
-v, --verbose Increase verbosity
-h, --help Print help usage [She@she-centos7 examples]$ ./example5 -i bahr1620.04o -n bahr1620.04n
WARNING: Navigation file bahr1620.04n doesn't have valid ionospheric correction parameters.
Bancroft method was used at epoch 0
Bancroft method was used at epoch 30
30.00000000 3633911.61526279 4425277.16374086 2799864.64313676 50.60813429 26.20915473 -12.95938696
60.00000000 3633911.27294441 4425277.29382556 2799864.72140608 50.60813776 26.20915583 -13.02953000
90.00000000 3633911.72144069 4425276.53504681 2799864.39705302 50.60812947 26.20915441 -13.44353101
120.00000000 3633912.70730754 4425277.96528185 2799865.20612008 50.60813093 26.20915406 -11.53320100
150.00000000 3633911.50029482 4425277.35231622 2799863.95125127 50.60813637 26.20914884 -13.19966526
...
3510.00000000 3633915.05584311 4425279.01996892 2799863.23598481 50.60811947 26.20912891 -10.33482742
3540.00000000 3633914.02925495 4425278.45113254 2799862.44004908 50.60812379 26.20912682 -11.66527738
3570.00000000 3633914.94178493 4425279.25564098 2799863.64853409 50.60812185 26.20913182 -10.05415985 [She@she-centos7 examples]$ ./example5 -i bell0300.02o -n brdc0300.02n
Bancroft method was used at epoch 0
0.00000000 4775853.47654020 116813.84203186 4213023.93446090 1.40113300 41.59962739 859.74948096
30.00000000 4775853.92901513 116814.01332576 4213024.06419099 1.40113492 41.59962554 860.17700436
60.00000000 4775853.79906886 116814.08023521 4213024.16856845 1.40113576 41.59962701 860.15038115
90.00000000 4775853.61836924 116814.07826280 4213024.23307484 1.40113579 41.59962852 860.05808505
120.00000000 4775853.58267418 116814.07468504 4213024.20737107 1.40113576 41.59962856 860.01426948
150.00000000 4775853.67207896 116814.10319962 4213024.24733056 1.40113608 41.59962829 860.10815795
180.00000000 4775853.60199151 116814.07684942 4213024.24030878 1.40113578 41.59962867 860.05061833
210.00000000 4775853.49177923 116814.03766845 4213024.28838846 1.40113534 41.59962966 859.99943066
240.00000000 4775853.50161516 116814.00936825 4213024.28751768 1.40113500 41.59962960 860.00568818
...
86249.98900000 4775850.73846418 116816.59904808 4213026.24533273 1.40116686 41.59965891 859.28720471
86279.98900000 4775850.70088181 116816.57470326 4213026.24143232 1.40116658 41.59965911 859.25607420
86309.98900000 4775850.71443751 116816.53725675 4213026.23800576 1.40116613 41.59965901 859.26324846
86339.98900000 4775850.70538967 116816.53198443 4213026.34238378 1.40116607 41.59965977 859.32568691
86369.98900000 4775850.58927617 116816.52446428 4213026.36751647 1.40116601 41.59966063 859.25543160
6. example6.cpp， OK。
[She@she-centos7 examples]$ ./example6
WARNING: Navigation file bahr1620.04n doesn't have valid ionospheric correction parameters.
Exception at epoch: 0.000000000000000 GPS
0.00000000 3633909.10160000 4425275.50330000 2799861.27360000 50.60814318 26.20913892 -17.03005082
30.00000000 3633911.74073445 4425277.20389675 2799864.68208009 50.60813357 26.20915461 -12.84290456
60.00000000 3633911.54304831 4425277.19265836 2799865.01849144 50.60813503 26.20915787 -12.81467844
90.00000000 3633911.81361812 4425276.26562604 2799864.73369240 50.60812705 26.20915773 -13.42917878
120.00000000 3633913.22368762 4425278.04550679 2799865.35504803 50.60812745 26.20915371 -11.11778824
150.00000000 3633911.88342197 4425277.11127474 2799864.48218737 50.60813188 26.20915291 -12.91416557
180.00000000 3633911.83589123 4425276.61525403 2799864.34496730 50.60812910 26.20915345 -13.34575635
...
7. example7.cpp， Error。
[She@she-centos7 examples]$ ./example7
39600.009 Case . Exception at epoch: 0.000999999998196 GPS
terminate called after throwing an instance of 'gpstk::GeometryException'
已放弃(吐核)
8. example8.cpp，OK。
[She@she-centos7 examples]$ ./example8
0.000 2.565 0.291 -6.283 1.379 1.401 0.399 11.800 0.650 2.504 2.170 1.250 1.168 1.828
900.000 0.441 -0.464 -1.616 0.149 0.773 0.188 6.838 0.398 2.764 2.371 1.420 1.291 1.989
1800.000 -0.012 -0.120 -0.054 0.110 0.006 0.009 0.016 0.000 2.934 2.522 1.499 1.488 2.036
2700.000 -0.013 -0.021 -0.059 0.111 0.002 0.004 0.006 0.000 3.839 3.236 2.066 1.911 2.611
3600.000 -0.033 -0.018 -0.076 0.111 0.001 0.002 0.002 0.000 3.498 2.978 1.836 1.875 2.314
4500.000 -0.021 -0.027 -0.056 0.103 0.000 0.002 0.001 0.000 3.135 2.751 1.505 1.718 2.148
...
9. example9.cpp，OK。
[She@she-centos7 examples]$ ./example9
Starting processing for station: 'COCO'.
Processing finished for station: 'COCO'. Results in file: 'coco2370-04.out'.
Starting processing for station: 'MADR'.
Processing finished for station: 'MADR'. Results in file: 'madr1480-08.out'.
Starting processing for station: 'ONSA'.
Processing finished for station: 'ONSA'. Results in file: 'onsa2240-05.out'.
10. example10.cpp，OK？？？。
[She@she-centos7 examples]$ ./example10
Exception at epoch: 0.000000000000000 GPS; text :SolverPPP:text :Weight matrix is not square
location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: Exception at epoch: 0.000000000000000 GPS; text :SolverPPP:text :Weight matrix is not square
location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: Exception at epoch: 0.000000000000000 GPS; text :SolverPPP:text :Weight matrix is not square
location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: Exception at epoch: 0.000000000000000 GPS; text :SolverPPP:text :Weight matrix is not square
location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp: location :/home/She/Downloads/GPSTK/gpstk-2.5.src/dev/ext/lib/Procframe/SolverPPP.cpp:
11. example11.cpp，添加gv软件包（ $ sudo yum install gv ）之后， OK。
[She@she-centos7 examples]$ ./example11
Going to launch ggv
sh: ggv: 未找到命令
... couldn't execute: ggv lineScatterPlotsExample.eps
Going to launch gv
sh: gv: 未找到命令
... couldn't execute: gv lineScatterPlotsExample.eps
Going to launch kghostview --portrait
sh: kghostview: 未找到命令
... couldn't execute: kghostview --portrait lineScatterPlotsExample.eps
Going to launch ghostview
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-140-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Missing charsets in String to FontSet conversion
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-100-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Bold-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
在CentOS 7 系统上安装 gv 软件包之后，可以打开图片文件 ~/GPSTK/gpstk-2.5.src/dev/examples/lineScatterPlotsExample.eps。
12. example12.cpp，Error。
[She@she-centos7 examples]$ ./example12
terminate called after throwing an instance of 'gpstk::InvalidParameter'
已放弃(吐核)
13. example13.cpp，OK。
功能是打开一张图片 surfacePlotExample.eps 。
[She@she-centos7 examples]$ ./example13
Going to launch ggv
sh: ggv: 未找到命令
... couldn't execute: ggv surfacePlotExample.eps
Going to launch kghostview --portrait
sh: kghostview: 未找到命令
... couldn't execute: kghostview --portrait surfacePlotExample.eps
Going to launch ghostview
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-140-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Missing charsets in String to FontSet conversion
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-100-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Bold-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
14. example14.cpp，OK。
[She@she-centos7 examples]$ ./example14
Starting processing for station: 'ACOR'.
Processing finished for station: 'ACOR'.
Starting processing for station: 'MADR'.
Processing finished for station: 'MADR'.
Starting processing for station: 'SCOA'.
Processing finished for station: 'SCOA'.
Starting processing for station: 'SFER'.
Processing finished for station: 'SFER'.
Starting processing for station: 'TLSE'.
Processing finished for station: 'TLSE'.
0.00000 0.96351 0.36898 2.63270 1.27138
30.00000 1.51249 -0.80217 2.74550 1.76894
60.00000 -1.05850 -0.59825 7.78966 0.82128
90.00000 0.72250 -1.04334 5.51055 0.60794
120.00000 0.88845 -1.38029 8.63975 0.14118
150.00000 0.69855 -0.38192 3.98268 0.89917
180.00000 0.62761 -0.12038 1.11617 1.30303
210.00000 0.49831 -0.18068 0.12812 1.62024
240.00000 0.33078 -0.02410 0.10592 1.73208
270.00000 0.25720 -0.22573 0.11656 2.02044
300.00000 0.07949 -0.31696 0.14422 2.17535
330.00000 0.00535 -0.19065 0.09094 2.24695
360.00000 -0.07861 -0.22373 0.29576 2.18388
390.00000 -0.06248 -0.28896 0.31730 2.15903
15. example15.cpp，OK。
[She@she-centos7 examples]$ ./example15 Before perturbation: sample mean is 10.0586,
sample standard deviation is 1.99072 Altering measurement to take the value of After perturbation: sample mean is 20.0485,
sample standard deviation is 315.916 Robust statistics:
number =
quartiles = 8.6755863 11.334482
median = 10.126592
MAD = 1.9174815 Using robust stats: sample mean is 10.058538,
sample standard deviation is 1.9917154
16. example16.cpp， Error：编译报错。
[She@she-centos7 examples]$ make
g++ -c -o example16.o example16.cpp
example16.cpp: 在函数‘int main(int, char**)’中:
example16.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘enableDataGapCheck’的成员
SP3EphList.enableDataGapCheck();
^
example16.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘setGapInterval’的成员
SP3EphList.setGapInterval(
^
example16.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘enableIntervalCheck’的成员
SP3EphList.enableIntervalCheck();
^
example16.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘setMaxInterval’的成员
SP3EphList.setMaxInterval(
^
example16.cpp::: 错误：expression cannot be used as a function
<< YDSTime(gRover.header.epoch).sod()
^
example16.cpp::: 错误：‘class gpstk::CommonTime’没有名为‘DOYsecond’的成员
fAverage << gRover.header.epoch.DOYsecond()
^
example16.cpp::: 错误：‘class gpstk::CommonTime’没有名为‘DOYsecond’的成员
cout << gRover.header.epoch.DOYsecond() << " " // #1
^
make: *** [example16.o] 错误
17 example17.cpp，Error：编译报错。
[She@she-centos7 examples]$ make
g++ -c -o example17.o example17.cpp
example17.cpp: 在成员函数‘virtual void example17::process()’中:
example17.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘enableDataGapCheck’的成员
SP3EphList.enableDataGapCheck();
^
example17.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘setGapInterval’的成员
SP3EphList.setGapInterval(
^
example17.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘enableIntervalCheck’的成员
SP3EphList.enableIntervalCheck();
^
example17.cpp::: 错误：‘class gpstk::SP3EphemerisStore’没有名为‘setMaxInterval’的成员
SP3EphList.setMaxInterval(
^
example17.cpp: 在成员函数‘virtual void example17::shutDown()’中:
example17.cpp::: 错误：‘class gpstk::CommonTime’没有名为‘DOYsecond’的成员
<< workEpoch.DOYsecond() << endl;
^
make: *** [example17.o] 错误
18. example18.cpp，OK。
[She@she-centos7 examples]$ ./example18
This is example of GPSTk.
process...
1.000000 2.004536 4.000000
1.000000 2.002924 4.000000
1.000000 1.999229 4.000000
1.000000 1.994481 4.000000
1.000000 1.996261 4.000000
1.000000 1.996434 4.000000
1.000000 1.994959 4.000000
...
1.000000 2.000722 4.000000
1.000000 2.000658 4.000000
1.000000 2.000705 4.000000
Finished.
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