gps nmea数据格式解析与生成
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gps nmea数据格式解析与生成
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一、nmea數(shù)據(jù)格式介紹
nmea數(shù)據(jù)如下：?
$GPGGA,025620.00,2602.33721,N,11911.49176,E,2,04,1.63,13.5,M,9.9,M,,0000*5D
$GPRMC,121252.000,A,3958.3032,N,11629.6046,E,15.15,359.95,070306,,,A*54?
$GNRMC,230134.00,A,2237.12422,N,11408.08310,E,9.291,215.59,310518,,,A*75
$GPVTG,359.95,T,,M,15.15,N,28.0,K,A*04?
$GPGSA,A,3,14,15,05,22,18,26,,,,,,,2.1,1.2,1.7*3D?
$GPGSV,3,1,10,18,84,067,23,09,67,067,27,22,49,312,28,15,47,231,30*70?
$GPGSV,3,2,10,21,32,199,23,14,25,272,24,05,21,140,32,26,14,070,20*7E?
$GPGSV,3,3,10,29,07,074,,30,07,163,28*7D
說明：NMEA0183格式以“$”開始，主要語句有GPGGA，GPVTG，GPRMC等
1、 GPS DOP and Active Satellites（GSA）當(dāng)前衛(wèi)星信息
$GPGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>,<7><CR><LF>
<1>模式 ：M = 手動， A = 自動。?
<2>定位型式 1 = 未定位， 2 = 二維定位， 3 = 三維定位。?
<3>PRN 數(shù)字：01 至 32 表天空使用中的衛(wèi)星編號，最多可接收12顆衛(wèi)星信息。?
<4> PDOP位置精度因子（0.5~99.9）?
<5> HDOP水平精度因子（0.5~99.9）?
<6> VDOP垂直精度因子（0.5~99.9）?
<7> Checksum.(檢查位).
2、 GPS Satellites in View（GSV）可見衛(wèi)星信息?
$GPGSV, <1>,<2>,<3>,<4>,<5>,<6>,<7>,?<4>,<5>,<6>,<7>,<8><CR><LF>
<1> GSV語句的總數(shù)?
<2> 本句GSV的編號?
<3> 可見衛(wèi)星的總數(shù)，00 至 12。?
<4> 衛(wèi)星編號， 01 至 32。?
<5>衛(wèi)星仰角， 00 至 90 度。?
<6>衛(wèi)星方位角， 000 至 359 度。實際值。?
<7>訊號噪聲比（C/No）， 00 至 99 dB；無表未接收到訊號。?
<8>Checksum.(檢查位).
第<4>,<5>,<6>,<7>項個別衛(wèi)星會重復(fù)出現(xiàn)，每行最多有四顆衛(wèi)星。其余衛(wèi)星信息會于次一行出現(xiàn)，若未使用，這些字段會空白。
3、Global Positioning System Fix Data（GGA）GPS定位信息
$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*hh<CR><LF>
<1> UTC時間，hhmmss（時分秒）格式?
<2> 緯度ddmm.mmmm（度分）格式（前面的0也將被傳輸）?
<3> 緯度半球N（北半球）或S（南半球）?
<4> 經(jīng)度dddmm.mmmm（度分）格式（前面的0也將被傳輸）?
<5> 經(jīng)度半球E（東經(jīng)）或W（西經(jīng)）?
<6> GPS狀態(tài)：0=未定位，1=非差分定位，2=差分定位，6=正在估算?
<7> 正在使用解算位置的衛(wèi)星數(shù)量（00~12）（前面的0也將被傳輸）?
<8> HDOP水平精度因子（0.5~99.9）?
<9> 海拔高度（-9999.9~99999.9）?
<10> 地球橢球面相對大地水準面的高度?
<11> 差分時間（從最近一次接收到差分信號開始的秒數(shù)，如果不是差分定位將為空）?
<12> 差分站ID號0000~1023（前面的0也將被傳輸，如果不是差分定位將為空）
4、Recommended Minimum Specific GPS/TRANSIT Data（RMC）推薦定位信息
$GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh<CR><LF>
<1> UTC時間，hhmmss（時分秒）格式?
<2> 定位狀態(tài)，A=有效定位，V=無效定位?
<3> 緯度ddmm.mmmm（度分）格式（前面的0也將被傳輸）?
<4> 緯度半球N（北半球）或S（南半球）?
<5> 經(jīng)度dddmm.mmmm（度分）格式（前面的0也將被傳輸）?
<6> 經(jīng)度半球E（東經(jīng)）或W（西經(jīng)）?
<7> 地面速率（000.0~999.9節(jié)，前面的0也將被傳輸）?
<8> 地面航向（000.0~359.9度，以真北為參考基準，前面的0也將被傳輸）?
<9> UTC日期，ddmmyy（日月年）格式?
<10> 磁偏角（000.0~180.0度，前面的0也將被傳輸）?
<11> 磁偏角方向，E（東）或W（西）?
<12> 模式指示（僅NMEA0183 3.00版本輸出，A=自主定位，D=差分，E=估算，N=數(shù)據(jù)無效）
5、 Track Made Good and Ground Speed（VTG）地面速度信息?
$GPVTG,<1>,T,<2>,M,<3>,N,<4>,K,<5>*hh<CR><LF>?
<1> 以真北為參考基準的地面航向（000~359度，前面的0也將被傳輸）?
<2> 以磁北為參考基準的地面航向（000~359度，前面的0也將被傳輸）?
<3> 地面速率（000.0~999.9節(jié)，前面的0也將被傳輸）?
<4> 地面速率（0000.0~1851.8公里/小時，前面的0也將被傳輸）?
<5> 模式指示（僅NMEA0183 3.00版本輸出，A=自主定位，D=差分，E=估算，N=數(shù)據(jù)無效）
二、gps數(shù)據(jù)解析與生成類
//CommonFunction.h #pragma once#include <string> #include <vector>// 字符串分割 int StringSplit(std::vector<std::string>& dst, const std::string& src, const std::string& separator);// 去掉前后空格 std::string& StringTrim(std::string &str); //CommonFunction.cpp #include "stdafx.h" #include "CommonFunction.h"// 字符串分割 int StringSplit(std::vector<std::string>& dst, const std::string& src, const std::string& separator) {if (src.empty() || separator.empty())return 0;int nCount = 0;std::string temp;size_t pos = 0, offset = 0;// 分割第1~n-1個while ((pos = src.find_first_of(separator, offset)) != std::string::npos){temp = src.substr(offset, pos - offset);if (temp.length() >= 0) {dst.push_back(temp);nCount++;}offset = pos + 1;}// 分割第n個temp = src.substr(offset, src.length() - offset);if (temp.length() >= 0) {dst.push_back(temp);nCount++;}return nCount; }//去前后空格 std::string& StringTrim(std::string &str) {if (str.empty()) {return str;}str.erase(0, str.find_first_not_of(" "));str.erase(str.find_last_not_of(" ") + 1);return str; } //GpsNmeaData.h //gps nmea 數(shù)據(jù)解析與生成#pragma once #include "CommonFunction.h"//gpsdata格式 enum GpsDataFormat {GpsDataFormat_None = 0, //noneGpsDataFormat_GNRMC = 1, //GNRMCGpsDataFormat_GPRMC = 2, //GPRMCGpsDataFormat_GPGGA = 3, //GPGGA };//Status enum GpsStatus {GpsStatus_Valid = 'A', //數(shù)據(jù)有效(GPRMC/GNRMC)GpsStatus_Invalid = 'V', //數(shù)據(jù)無效(GPRMC/GNRMC)GpsStatus_NoLocation = '0', //未定位(GPGGA)GpsStatus_NoDiffLocation = '1', //非差分定位(GPGGA)GpsStatus_DiffLocation = '2', //差分定位(GPGGA)GpsStatus_Estimating = '6', //正在估算(GPGGA) };//緯度方向 enum GpsLatDirect {GpsLatDirect_N = 'N', //北緯GpsLatDirect_S = 'S', //南緯 };//經(jīng)度方向 enum GpsLngDirect {GpsLngDirect_E = 'E', //東經(jīng)GpsLngDirect_W = 'W', //西經(jīng) };//磁偏角方向，E=東，W=西 enum GpsDeclinationDirect {GpsDeclinationDirect_Invalid= '0',GpsDeclinationDirect_E = 'E',GpsDeclinationDirect_W = 'W', };//模式，A=自動，D=差分，E=估測，N=數(shù)據(jù)無效 enum GpsMode {GpsMode_A = 'A',GpsMode_D = 'D',GpsMode_E = 'E',GpsMode_N = 'N', };class GpsNmeaData { public:GpsNmeaData();virtual ~GpsNmeaData();//設(shè)置初始gps數(shù)據(jù)格式void SetInitGpsDataFormat(unsigned char ucInitGpsDataFormat);//加載GPS字符串bool LoadGPSString(char *pInputString, bool bIsCompareChecksum = true);//生成GPS字符串bool CreateGPSString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag);//加載GPRMC字符串bool LoadGPRMCString(char *pInputString,std::vector<std::string> vecValue,bool bIsCompareChecksum=true);//生成GPRMC字符串bool CreateGPRMCString(char *pOutputString, int & nOutputStringSize,bool bIsHasEndFlag);//加載GNRMC字符串bool LoadGNRMCString(char *pInputString,std::vector<std::string> vecValue, bool bIsCompareChecksum = true);//生成GNRMC字符串bool CreateGNRMCString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag);//加載GPGGA字符串bool LoadGPGGAString(char *pInputString, std::vector<std::string> vecValue, bool bIsCompareChecksum = true);//生成GPGGA字符串bool CreateGPGGAString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag);//計算經(jīng)緯度（根據(jù)速度和方向計算下一經(jīng)緯度）void CalcLngLat(float fDirect, float fSpeed, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat);void CalcLngLatEx(float fDirect, float fSpeed, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat, int nKeepSeconds=1);//計算經(jīng)緯度（根據(jù)距離和方向計算下一經(jīng)緯度）void CalcLngLatByDistanceAndDirect(float fDirect, double fDistance, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat);//獲取與設(shè)置參數(shù)void GetLng(double & fLng,unsigned char & ucDirect);void SetLng(double fLng, unsigned char ucDirect);void GetLat(double & fLat,unsigned char & ucDirect);void SetLat(double fLat, unsigned char ucDirect);float GetSpeed();void SetSpeed(float fSpeed);float GetDirect();void SetDirect(float fDirect);unsigned char GetStatus();void SetStatus(unsigned char ucStatus);unsigned char GetDeclination();void SetDeclination(unsigned char ucDeclination);unsigned char GetDeclinationDirect();void SetDeclinationDirect(unsigned char ucDeclinationDirect);unsigned char GetMode();void SetMode(unsigned char ucMode);unsigned char GetSatelliteNum();void SetSatelliteNum(unsigned char ucSatelliteNum);float GetHDOP();void SetHDOP(float fHDOP);float GetHigh();void SetHigh(float fHigh);float GetEarthHigh();void SetEarthHigh(float fHigh);unsigned int GetDiffTime();void SetDiffTime(unsigned int uiDiffTime);unsigned short GetDiffSiteId();void SetDiffSiteId(unsigned short usDiffSiteId);unsigned char GetChecksum();void SetChecksum(unsigned char ucChecksum);void GetTime(unsigned short & usYear, unsigned short & usMonth, unsigned short & usDay, unsigned short & usHour, unsigned short & usMiniute, unsigned short & usSecond, unsigned short & usMillsSecond);void SetTime(unsigned short usYear, unsigned short usMonth, unsigned short usDay, unsigned short usHour,unsigned short usMiniute, unsigned short usSecond, unsigned short usMillsSecond);void SetNowTime();public://度分轉(zhuǎn)換度static double dm_to_degree(double dm);//度轉(zhuǎn)換度分static double degree_to_dm(double ddd_dddd);//計算兩點經(jīng)緯度之間的距離static double GpsNmeaDataDistance(double latitude1, double longitude1, double latitude2, double longitude2);protected://計算校驗和unsigned char CalcChecksum(unsigned char *pInput, int nInputSize);protected:unsigned char m_ucGpsDataFormat; //GPS數(shù)據(jù)格式double m_fLng; //經(jīng)度unsigned char m_ucGpsLngDirect;double m_fLat; //緯度unsigned char m_ucGpsLatDirect;float m_fSpeed; //速度,千米／小時 (一節(jié)也是1.852千米／小時)float m_fDirect; //方向unsigned char m_ucStatus; //GPS狀態(tài) A=數(shù)據(jù)有效；V=數(shù)據(jù)無效unsigned char m_ucDeclination; //磁偏角,（000 - 180）度（前導(dǎo)位數(shù)不足則補0）unsigned char m_ucDeclinationDirect;//磁偏角方向，E=東，W=西unsigned char m_ucMode; //模式，A=自動，D=差分，E=估測，N=數(shù)據(jù)無效unsigned char m_ucChecksum; //校驗和unsigned char m_ucSatelliteNum; //衛(wèi)星數(shù)float m_fHDOP; //HDOP水平精度因子（0.5~99.9） float m_fHigh; //海拔高度（-9999.9~99999.9）float m_fEarthHigh; //地球橢球面相對大地水準面的高度 unsigned int m_uiDiffTime; //差分時間（從最近一次接收到差分信號開始的秒數(shù)，如果不是差分定位將為空） unsigned short m_usDiffSiteId; //差分站ID號0000~1023（前面的0也將被傳輸，如果不是差分定位將為空）unsigned short m_usYear;unsigned short m_usMonth;unsigned short m_usDay;unsigned short m_usHour;unsigned short m_usMinute;unsigned short m_usSecond;unsigned short m_usMillsSecond; }; //GpsNmeaData.cpp #include "stdafx.h" #include "GpsNmeaData.h"#define GpsNmeaData_StringSplitMinCount 8 //Gprmc字符串分解子字符串最小個數(shù) #define GpsNmeaData_Gnrmc_Head "$GNRMC" //Gps nmea幀頭，$GNRMC #define GpsNmeaData_Gprmc_Head "$GPRMC" //Gps nmea幀頭，$GPRMC #define GpsNmeaData_Gpgga_Head "$GPGGA" //Gps nmea幀頭，$GPGGAconst double PI = 3.14159265358979323846; const double Ea = 6378137; // 赤道半徑 const double Eb = 6356725; // 極半徑 GpsNmeaData::GpsNmeaData() {m_ucGpsDataFormat = GpsDataFormat_None;m_fLng = 0.0f;m_ucGpsLngDirect = GpsLngDirect_E;m_fLat = 0.0;m_ucGpsLatDirect = GpsLatDirect_N;m_fSpeed = 0;m_fDirect = 0;m_ucStatus = GpsStatus_Valid;m_ucDeclination = 0;m_ucDeclinationDirect = GpsDeclinationDirect_E;m_ucMode = GpsMode_A;m_ucChecksum = 0;m_usYear = 0;m_usMonth = 0;m_usDay = 0;m_usHour = 0;m_usMinute = 0;m_usSecond = 0;m_usMillsSecond = 0;m_ucSatelliteNum = 0;m_fHDOP = 0.5; m_fHigh = 0; m_fEarthHigh = 0; m_uiDiffTime = 0; m_usDiffSiteId = 0; }GpsNmeaData::~GpsNmeaData() { }//設(shè)置初始gps數(shù)據(jù)格式 void GpsNmeaData::SetInitGpsDataFormat(unsigned char ucInitGpsDataFormat) {m_ucGpsDataFormat = ucInitGpsDataFormat; }//獲取與設(shè)置參數(shù) void GpsNmeaData::GetLng(double & fLng, unsigned char & ucDirect) {fLng = m_fLng;ucDirect = m_ucGpsLngDirect; } void GpsNmeaData::SetLng(double fLng, unsigned char ucDirect) {m_fLng = fLng;m_ucGpsLngDirect = ucDirect; }void GpsNmeaData::GetLat(double & fLat, unsigned char & ucDirect) {fLat = m_fLat;ucDirect = m_ucGpsLatDirect; } void GpsNmeaData::SetLat(double fLat, unsigned char ucDirect) {m_fLat = fLat;m_ucGpsLatDirect = ucDirect; }float GpsNmeaData::GetSpeed() {return m_fSpeed; } void GpsNmeaData::SetSpeed(float fSpeed) {m_fSpeed = fSpeed; }float GpsNmeaData::GetDirect() {return m_fDirect; } void GpsNmeaData::SetDirect(float fDirect) {m_fDirect = fDirect; }unsigned char GpsNmeaData::GetStatus() {return m_ucStatus; } void GpsNmeaData::SetStatus(unsigned char ucStatus) {m_ucStatus = ucStatus; }unsigned char GpsNmeaData::GetDeclination() {return m_ucDeclination; } void GpsNmeaData::SetDeclination(unsigned char ucDeclination) {m_ucDeclination = ucDeclination; }unsigned char GpsNmeaData::GetDeclinationDirect() {return m_ucDeclinationDirect; } void GpsNmeaData::SetDeclinationDirect(unsigned char ucDeclinationDirect) {m_ucDeclinationDirect = ucDeclinationDirect; }unsigned char GpsNmeaData::GetMode() {return m_ucMode; } void GpsNmeaData::SetMode(unsigned char ucMode) {m_ucMode = ucMode; }unsigned char GpsNmeaData::GetSatelliteNum() {return m_ucSatelliteNum; } void GpsNmeaData::SetSatelliteNum(unsigned char ucSatelliteNum) {m_ucSatelliteNum = ucSatelliteNum; }float GpsNmeaData::GetHDOP() {return m_fHDOP; } void GpsNmeaData::SetHDOP(float fHDOP) {m_fHDOP = fHDOP; }float GpsNmeaData::GetHigh() {return m_fHigh; } void GpsNmeaData::SetHigh(float fHigh) {m_fHigh = fHigh; }float GpsNmeaData::GetEarthHigh() {return m_fEarthHigh; } void GpsNmeaData::SetEarthHigh(float fHigh) {m_fEarthHigh = fHigh; }unsigned int GpsNmeaData::GetDiffTime() {return m_uiDiffTime; } void GpsNmeaData::SetDiffTime(unsigned int uiDiffTime) {m_uiDiffTime = uiDiffTime; }unsigned short GpsNmeaData::GetDiffSiteId() {return m_usDiffSiteId; } void GpsNmeaData::SetDiffSiteId(unsigned short usDiffSiteId) {m_usDiffSiteId = usDiffSiteId; }unsigned char GpsNmeaData::GetChecksum() {return m_ucChecksum; } void GpsNmeaData::SetChecksum(unsigned char ucChecksum) {m_ucChecksum = ucChecksum; }void GpsNmeaData::GetTime(unsigned short & usYear, unsigned short & usMonth, unsigned short & usDay, unsigned short & usHour,unsigned short & usMiniute, unsigned short & usSecond, unsigned short & usMillsSecond) {usYear = m_usYear;usMonth = m_usMonth;usDay = m_usDay;usHour = m_usHour;usMiniute = m_usMinute;usSecond = m_usSecond;usMillsSecond = m_usMillsSecond; } void GpsNmeaData::SetTime(unsigned short usYear, unsigned short usMonth, unsigned short usDay, unsigned short usHour,unsigned short usMiniute, unsigned short usSecond, unsigned short usMillsSecond) {m_usYear = usYear;m_usMonth = usMonth;m_usDay = usDay;m_usHour = usHour;m_usMinute = usMiniute;m_usSecond = usSecond;m_usMillsSecond = usMillsSecond; } void GpsNmeaData::SetNowTime() {//格林威治時間time_t timep;time(&timep);struct tm* zeroTM = gmtime(&timep);SetTime(zeroTM->tm_year + 1900,zeroTM->tm_mon+1,zeroTM->tm_mday,zeroTM->tm_hour,zeroTM->tm_min,zeroTM->tm_sec,0); }//加載GPS字符串 bool GpsNmeaData::LoadGPSString(char *pInputString, bool bIsCompareChecksum) {bool bRet = false;std::vector<std::string> vecValue;int nStringSplitRet = StringSplit(vecValue, pInputString, ",");if (nStringSplitRet >= GpsNmeaData_StringSplitMinCount){if (strcmp(vecValue[0].c_str(), GpsNmeaData_Gprmc_Head) == 0){//gprmcm_ucGpsDataFormat = GpsDataFormat_GPRMC;bRet = LoadGPRMCString(pInputString,vecValue, bIsCompareChecksum);}else if (strcmp(vecValue[0].c_str(), GpsNmeaData_Gnrmc_Head) == 0){//gnrmcm_ucGpsDataFormat = GpsDataFormat_GNRMC;bRet = LoadGNRMCString(pInputString,vecValue, bIsCompareChecksum);}else if (strcmp(vecValue[0].c_str(), GpsNmeaData_Gpgga_Head) == 0){//gpggam_ucGpsDataFormat = GpsDataFormat_GPGGA;bRet = LoadGPGGAString(pInputString, vecValue, bIsCompareChecksum);}else{//非法數(shù)據(jù)格式return false;}}return bRet; }//生成GPS字符串 bool GpsNmeaData::CreateGPSString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag) {bool bRet = false;if (m_ucGpsDataFormat == GpsDataFormat_GNRMC){//GNRMCbRet = CreateGNRMCString(pOutputString, nOutputStringSize, bIsHasEndFlag);}else if (m_ucGpsDataFormat == GpsDataFormat_GPRMC){//GPRMCbRet = CreateGPRMCString(pOutputString, nOutputStringSize, bIsHasEndFlag);}else if (m_ucGpsDataFormat == GpsDataFormat_GPGGA){//GPGGAbRet = CreateGPGGAString(pOutputString, nOutputStringSize, bIsHasEndFlag);}else{bRet = CreateGNRMCString(pOutputString, nOutputStringSize, bIsHasEndFlag);}return bRet; }//加載GPRMC字符串 bool GpsNmeaData::LoadGPRMCString(char *pInputString,std::vector<std::string> vecValue, bool bIsCompareChecksum) {//$GPRMC,212744.000,A,3721.3623,N,12706.8308,E,5.40,161.91,050317,,,A*65bool bRet = false;//utc時間sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//狀態(tài)if (vecValue[2].size() > 0){m_ucStatus = vecValue[2].c_str()[0];}else{m_ucStatus = GpsStatus_Invalid;}//緯度double fLatMD = atof(vecValue[3].c_str());m_fLat = dm_to_degree(fLatMD);//北緯/南緯if (vecValue[4].size() > 0){m_ucGpsLatDirect = vecValue[4].c_str()[0];}//經(jīng)度double fLngMD = atof(vecValue[5].c_str());m_fLng = dm_to_degree(fLngMD);//東經(jīng)/西經(jīng)if (vecValue[6].size() > 0){m_ucGpsLngDirect = vecValue[6].c_str()[0];}//速度，單位節(jié)，一節(jié)也是1.852千米／小時float fSpeedByNodeUnit = atof(vecValue[7].c_str());m_fSpeed = fSpeedByNodeUnit * 1.852;//方位角m_fDirect = atof(vecValue[8].c_str());//UTC日期char szDate[12] = { 0 };strcpy(szDate, vecValue[9].c_str());int usYear = 0;int usMonth = 0;int usDay = 0;sscanf(szDate, "%02d%02d%02d", &usDay, &usMonth, &usYear);m_usYear = usYear;m_usMonth = usMonth;m_usDay = usDay;m_usYear += 2000;//磁偏角if (vecValue[10].size() > 0){m_ucDeclination = vecValue[10].c_str()[0];}//磁偏角方向if (vecValue[11].size() > 0){m_ucDeclinationDirect = vecValue[11].c_str()[0];}else{m_ucDeclinationDirect = GpsDeclinationDirect_Invalid;}//模式指示、校驗sscanf(vecValue[12].c_str(), "%c*%X", &m_ucMode, &m_ucChecksum);//計算校驗和比對if (bIsCompareChecksum){char *pFindStarChar = strrchr(pInputString, '*');if (pFindStarChar != NULL){unsigned char ucTempChecksum = 0;ucTempChecksum = CalcChecksum((unsigned char *)pInputString, pFindStarChar - pInputString + 1);if (ucTempChecksum == m_ucChecksum){bRet = true;}}}else{bRet = true;}return bRet; } //生成GPRMC字符串 bool GpsNmeaData::CreateGPRMCString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag) {//$GPRMC,212744.000,A,3721.3623,N,12706.8308,E,5.40,161.91,050317,,,A*65bool bRet = true;//memset(pOutputString, 0, nOutputStringSize);//緯度double fLatMD = degree_to_dm(m_fLat);//經(jīng)度double fLngMD = degree_to_dm(m_fLng);//速度(節(jié))float fSpeedByNodeUnit = m_fSpeed/1.852;if (m_ucStatus == GpsStatus_Invalid){//數(shù)據(jù)無效sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,,,,,,,%02d%02d%02d,,,N*",GpsNmeaData_Gprmc_Head,m_usHour,m_usMinute,m_usSecond,m_usMillsSecond,m_ucStatus,m_usDay,m_usMonth,m_usYear-2000);unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//數(shù)據(jù)有效if (m_ucDeclinationDirect == GpsDeclinationDirect_Invalid){sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,%.5f,%c,%.5f,%c,%.2f,%.2f,%02d%02d%02d,,,%c*",GpsNmeaData_Gprmc_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, fSpeedByNodeUnit, m_fDirect,m_usDay, m_usMonth, m_usYear - 2000, m_ucMode);}else{sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,%.5f,%c,%.5f,%c,%.2f,%.2f,%02d%02d%02d,%d,%c,%c*",GpsNmeaData_Gprmc_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, fSpeedByNodeUnit, m_fDirect,m_usDay, m_usMonth, m_usYear - 2000, m_ucDeclination, m_ucDeclinationDirect, m_ucMode);}unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet; }//加載GNRMC字符串 bool GpsNmeaData::LoadGNRMCString(char *pInputString,std::vector<std::string> vecValue,bool bIsCompareChecksum) {//$GNRMC,230134.00,A,2237.12422,N,11408.08310,E,9.291,215.59,310518,,,A*75bool bRet = false;//utc時間sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//狀態(tài)if (vecValue[2].size() > 0){m_ucStatus = vecValue[2].c_str()[0];}else{m_ucStatus = GpsStatus_Invalid;}//緯度double fLatMD = atof(vecValue[3].c_str());m_fLat = dm_to_degree(fLatMD);//北緯/南緯if (vecValue[4].size() > 0){m_ucGpsLatDirect = vecValue[4].c_str()[0];}//經(jīng)度double fLngMD = atof(vecValue[5].c_str());m_fLng = dm_to_degree(fLngMD);//東經(jīng)/西經(jīng)if (vecValue[6].size() > 0){m_ucGpsLngDirect = vecValue[6].c_str()[0];}//速度，單位節(jié)，一節(jié)也是1.852千米／小時float fSpeedByNodeUnit = atof(vecValue[7].c_str());m_fSpeed = fSpeedByNodeUnit * 1.852;//方位角m_fDirect = atof(vecValue[8].c_str());//UTC日期char szDate[12] = { 0 };strcpy(szDate, vecValue[9].c_str());int usYear = 0;int usMonth = 0;int usDay = 0;sscanf(szDate, "%02d%02d%02d", &usDay, &usMonth, &usYear);m_usYear = usYear;m_usMonth = usMonth;m_usDay = usDay;m_usYear += 2000;//磁偏角if (vecValue[10].size() > 0){m_ucDeclination = vecValue[10].c_str()[0];}//磁偏角方向if (vecValue[11].size() > 0){m_ucDeclinationDirect = vecValue[11].c_str()[0];}else{m_ucDeclinationDirect = GpsDeclinationDirect_Invalid;}//模式指示、校驗std::vector<std::string> vecChecksum;StringSplit(vecChecksum, vecValue[12].c_str(), "*");if (vecChecksum.size() >= 2){if (vecChecksum[0].c_str() > 0){sscanf(vecChecksum[0].c_str(), "%c", &m_ucMode);}char *stop = NULL;m_ucChecksum = strtol(vecChecksum[1].c_str(), &stop, 16);}//計算校驗和比對if (bIsCompareChecksum){char *pFindStarChar = strrchr(pInputString, '*');if (pFindStarChar != NULL){unsigned char ucTempChecksum = 0;ucTempChecksum = CalcChecksum((unsigned char *)pInputString, pFindStarChar - pInputString + 1);if (ucTempChecksum == m_ucChecksum){bRet = true;}}}else{bRet = true;}return bRet; } //生成GNRMC字符串 bool GpsNmeaData::CreateGNRMCString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag) { //$GNRMC,230134.00,A,2237.12422,N,11408.08310,E,9.291,215.59,310518,,,A*75bool bRet = true;//memset(pOutputString, 0, nOutputStringSize);//緯度double fLatMD = degree_to_dm(m_fLat);//經(jīng)度double fLngMD = degree_to_dm(m_fLng);//速度(節(jié))float fSpeedByNodeUnit = m_fSpeed / 1.852;if (m_ucStatus == GpsStatus_Invalid){//數(shù)據(jù)無效sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,,,,,,,%02d%02d%02d,,,N*",GpsNmeaData_Gnrmc_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus, m_usDay, m_usMonth, m_usYear - 2000);unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//數(shù)據(jù)有效if (m_ucDeclinationDirect == GpsDeclinationDirect_Invalid){sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,%.5f,%c,%.5f,%c,%.3f,%.2f,%02d%02d%02d,,,%c*",GpsNmeaData_Gnrmc_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, fSpeedByNodeUnit, m_fDirect,m_usDay, m_usMonth, m_usYear - 2000, m_ucMode);}else{sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%c,%.5f,%c,%.5f,%c,%.3f,%.2f,%02d%02d%02d,%d,%c,%c*",GpsNmeaData_Gnrmc_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, fSpeedByNodeUnit, m_fDirect,m_usDay, m_usMonth, m_usYear - 2000, m_ucDeclination, m_ucDeclinationDirect, m_ucMode);}unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet; }//加載GPGGA字符串 bool GpsNmeaData::LoadGPGGAString(char *pInputString, std::vector<std::string> vecValue,bool bIsCompareChecksum) {//$GPGGA,025620.00,2602.33721,N,11911.49176,E,2,04,1.63,13.5,M,9.9,M,,0000*5Dbool bRet = false;//utc時間sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//緯度double fLatMD = atof(vecValue[2].c_str());m_fLat = dm_to_degree(fLatMD);//北緯/南緯if (vecValue[3].size() > 0){m_ucGpsLatDirect = vecValue[3].c_str()[0];}//經(jīng)度double fLngMD = atof(vecValue[4].c_str());m_fLng = dm_to_degree(fLngMD);//東經(jīng)/西經(jīng)if (vecValue[5].size() > 0){m_ucGpsLngDirect = vecValue[5].c_str()[0];}//狀態(tài)if (vecValue[6].size() > 0){m_ucStatus = vecValue[6].c_str()[0];}else{m_ucStatus = '0';}//衛(wèi)星數(shù)m_ucSatelliteNum = atoi(vecValue[7].c_str());//HDOP水平精度因子（0.5~99.9）m_fHDOP = atof(vecValue[8].c_str());//海拔高度（ - 9999.9~99999.9）m_fHigh = atof(vecValue[9].c_str());//M//地球橢球面相對大地水準面的高度m_fEarthHigh = atof(vecValue[11].c_str());//M//差分時間m_uiDiffTime = atol(vecValue[13].c_str());//差分站ID號、校驗std::vector<std::string> vecDiffIno;StringSplit(vecDiffIno, vecValue[14].c_str(), "*");if (vecDiffIno.size() >= 2){m_usDiffSiteId = atoi(vecDiffIno[0].c_str());char *stop = NULL;m_ucChecksum = strtol(vecDiffIno[1].c_str(), &stop, 16);}//計算校驗和比對if (bIsCompareChecksum){char *pFindStarChar = strrchr(pInputString, '*');if (pFindStarChar != NULL){unsigned char ucTempChecksum = 0;ucTempChecksum = CalcChecksum((unsigned char *)pInputString, pFindStarChar - pInputString + 1);if (ucTempChecksum == m_ucChecksum){bRet = true;}}}else{bRet = true;}return bRet; } //生成GPGGA字符串 bool GpsNmeaData::CreateGPGGAString(char *pOutputString, int & nOutputStringSize, bool bIsHasEndFlag) {//$GPGGA,025620.00,2602.33721,N,11911.49176,E,2,04,1.63,13.5,M,9.9,M,,0000*5D bool bRet = true;//memset(pOutputString, 0, nOutputStringSize);//緯度double fLatMD = degree_to_dm(m_fLat);//經(jīng)度double fLngMD = degree_to_dm(m_fLng);//m_ucStatus 0=未定位，1=非差分定位，2=差分定位，6=正在估算if (m_ucStatus == '0'){//數(shù)據(jù)無效sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,,,,,%c,,,,M,,M,,0000*",GpsNmeaData_Gpgga_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond, m_ucStatus);unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//數(shù)據(jù)有效if (m_ucStatus == '2'){//差分定位sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%.4f,%c,%.4f,%c,%c,%02d,%.1f,%.1f,M,%.1f,M,%u,%04d*",GpsNmeaData_Gpgga_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, m_ucStatus,m_ucSatelliteNum,m_fHDOP,m_fHigh,m_fEarthHigh,m_uiDiffTime,m_usDiffSiteId);}else if (m_ucStatus == '1'){//非差分定位sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%.4f,%c,%.4f,%c,%c,%02d,%.1f,%.1f,M,%.1f,M,,0000d*",GpsNmeaData_Gpgga_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, m_ucStatus,m_ucSatelliteNum, m_fHDOP, m_fHigh, m_fEarthHigh);}else{sprintf_s(pOutputString, nOutputStringSize - 1, "%s,%02d%02d%02d.%03d,%.4f,%c,%.4f,%c,%c,%02d,%.1f,%.1f,M,%.1f,M,,0000*",GpsNmeaData_Gpgga_Head, m_usHour, m_usMinute, m_usSecond, m_usMillsSecond,fLatMD, m_ucGpsLatDirect, fLngMD, m_ucGpsLngDirect, m_ucStatus,m_ucSatelliteNum, m_fHDOP, m_fHigh, m_fEarthHigh);}unsigned char ucChecksum = CalcChecksum((unsigned char *)pOutputString, strlen(pOutputString));char szChecksum[4] = { 0 };sprintf_s(szChecksum, "%02X", ucChecksum);strcat(pOutputString, szChecksum);if (bIsHasEndFlag){//是否帶結(jié)束標記符號，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet; }/* 功能：計算經(jīng)緯度（根據(jù)速度和方向計算下一經(jīng)緯度） 參數(shù)：fDirect：方向；fSpeed:速度；km/h；dOldLng：舊經(jīng)度；dOldLat：舊緯度；dNewLng：新經(jīng)度；dNewLat：新緯度 返回：無 */ void GpsNmeaData::CalcLngLat(float fDirect, float fSpeed, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat) {CalcLngLatEx(fDirect, fSpeed, dOldLng, dOldLat, dNewLng, dNewLat, 1); } /* 功能：計算經(jīng)緯度（根據(jù)速度和方向計算下一經(jīng)緯度） 參數(shù)：fDirect：方向；fSpeed:速度；km/h；dOldLng：舊經(jīng)度；dOldLat：舊緯度；dNewLng：新經(jīng)度；dNewLat：新緯度；nKeepSeconds：保持多少秒 返回：無 */ void GpsNmeaData::CalcLngLatEx(float fDirect, float fSpeed, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat, int nKeepSeconds) {if (nKeepSeconds < 1){nKeepSeconds = 1;}float declie = fDirect;// 方位角float speed = fSpeed;// 速度float distance = speed * nKeepSeconds / 3600.0;//速度計算單位時間內(nèi)車輛行駛距離,這里單位為千米。換算成每秒多少km，外部接口一秒發(fā)送一次gps數(shù)據(jù)float degree = distance / 111;//kmfloat tempLat = degree * cos(declie);float tempLong = degree * sin(declie);dNewLat = dOldLat + tempLat;dNewLng = dOldLng + tempLong; }/* 功能：計算經(jīng)緯度（根據(jù)距離和方向計算下一經(jīng)緯度） 參數(shù)：fDirect：方向；fDistance:距離；km；dOldLng：舊經(jīng)度；dOldLat：舊緯度；dNewLng：新經(jīng)度；dNewLat：新緯度 返回：無 */ void GpsNmeaData::CalcLngLatByDistanceAndDirect(float fDirect, double fDistance, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat) {double dx = fDistance * 1000 * sin(fDirect*PI / 180.0);double dy = fDistance * 1000 * cos(fDirect*PI / 180.0);double ec = Eb + (Ea - Eb) * (90 - dOldLat) / 90.0;double ed = ec * cos(dOldLat*PI / 180);dNewLng = (dx / ed + dOldLng*PI / 180.0) * 180.0 / PI;dNewLat = (dy / ec + dOldLat*PI / 180.0) * 180.0 / PI; }//計算校驗和 unsigned char GpsNmeaData::CalcChecksum(unsigned char *pInput, int nInputSize) {//$與*符號之間的字符進行異或unsigned char ucChecksum = 0;int i = 0;for (i = 1; i < nInputSize - 1; i++)//排除$與*符號{ucChecksum ^= pInput[i];}return ucChecksum; }//度分轉(zhuǎn)換度 double GpsNmeaData::dm_to_degree(double dm) {//計算度int d = (int)(dm / 100);//計算分double m = dm - d * 100;double s = d * 3600 + m * 60;double dd_dddd = s / 3600.0;return dd_dddd; }//度轉(zhuǎn)換度分 double GpsNmeaData::degree_to_dm(double ddd_dddd) {int d = (int)(ddd_dddd);double m = (ddd_dddd - d) * 60;double dddmm_mmmm = d * 100 + m;return dddmm_mmmm; }/* 功能：計算兩點經(jīng)緯度之間的距離 參數(shù)：latitude1：點1緯度值；longitude1：點1經(jīng)度值；latitude2：點2緯度值；longitude2：點2經(jīng)度值 返回：double，距離，單位為m */ double GpsNmeaData::GpsNmeaDataDistance(double latitude1, double longitude1, double latitude2, double longitude2) {double lon1 = longitude1 * PI / 180;double lat1 = latitude1 * PI / 180;double lon2 = longitude2 * PI / 180;double lat2 = latitude2 * PI / 180;double deltaLat = lat1 - lat2;double deltaLon = lon1 - lon2;double s = 2 * asin(sqrt(pow(sin(deltaLat / 2), 2) + cos(lat1)*cos(lat2)*pow(sin(deltaLon / 2), 2)));return (s * 1000 * 6378.137); } //調(diào)用實例 GpsNmeaData gndGpsNmeaData; bool bLoadGpsNmeaDataString = gndGpsNmeaData.LoadGPSString("$GNRMC,230142.00,A,2237.10770,N,11408.06877,E,11.002,218.24,310518,,,A,V*3A"); if(bLoadGpsNmeaDataString) {char szOutputGPRMC[128] = { 0 };int nOutputGPRMCSize = 128;bool bCreateGPRMCString = false;float fDirect = 0;double fLngPrev = 0, fLatPrev = 0;unsigned char ucLngPrevDirect = 0, ucLatPrevDirect = 0;double fNewLng = 0, fNewLat = 0;//獲取經(jīng)緯度等信息gndGpsNmeaData.GetLng(fLngPrev, ucLngPrevDirect);gndGpsNmeaData.GetLat(fLatPrev, ucLatPrevDirect);//計算gndGpsNmeaData.CalcLngLatByDistanceAndDirect(fDirect, 30, fLngPrev, fLatPrev, fNewLng, fNewLat);//保存經(jīng)緯度等信息gndGpsNmeaData.SetLng(fNewLng, ucLngPrevDirect);gndGpsNmeaData.SetLat(fNewLat, ucLatPrevDirect);gndGpsNmeaData.SetNowTime();nOutputGPRMCSize = 128;memset(szOutputGPRMC, 0, sizeof(szOutputGPRMC));bCreateGPRMCString = m_ggdGpsGprmcData.CreateGPSString(szOutputGPRMC, nOutputGPRMCSize, true); }?
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