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geoid.c
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/*------------------------------------------------------------------------------
* geoid.c : geoid models
*
* Copyright (C) 2007-2009 by T.TAKASU, All rights reserved.
*
* reference :
* [1] EGM96 The NASA GSFC and NIMA Joint Geopotential Model
* [2] Earth Gravitational Model 2008 (EGM2008)
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/01/07 1.0 new
* 2009/09/04 1.1 replace geoid data by global model
* 2009/12/05 1.2 added api:
* opengeoid(),closegeoid()
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
static const char rcsid[]="$Id: geoid.c,v 1.1 2008/07/17 21:48:06 ttaka Exp $";
static const double range[4]; /* embedded geoid area range {W,E,S,N} (deg) */
static const float geoid[361][181]; /* embedded geoid heights (m) (lon x lat) */
static FILE *fp_geoid=NULL; /* geoid file pointer */
static int model_geoid=GEOID_EMBEDDED; /* geoid model */
/* bilinear interpolation ----------------------------------------------------*/
static double interpb(const double *y, double a, double b)
{
return y[0]*(1.0-a)*(1.0-b)+y[1]*a*(1.0-b)+y[2]*(1.0-a)*b+y[3]*a*b;
}
/* embedded geoid model ------------------------------------------------------*/
static double geoidh_emb(const double *pos)
{
const double dlon=1.0,dlat=1.0;
double a,b,y[4];
int i1,i2,j1,j2;
if (pos[1]<range[0]||range[1]<pos[1]||pos[0]<range[2]||range[3]<pos[0]) {
trace(2,"out of geoid model range: lat=%.3f lon=%.3f\n",pos[0],pos[1]);
return 0.0;
}
a=(pos[1]-range[0])/dlon;
b=(pos[0]-range[2])/dlat;
i1=(int)a; a-=i1; i2=i1<360?i1+1:i1;
j1=(int)b; b-=j1; j2=j1<180?j1+1:j1;
y[0]=geoid[i1][j1];
y[1]=geoid[i2][j1];
y[2]=geoid[i1][j2];
y[3]=geoid[i2][j2];
return interpb(y,a,b);
}
/* get 2 byte signed integer from file ---------------------------------------*/
static short fget2b(FILE *fp, long off)
{
unsigned char v[2];
if (fseek(fp,off,SEEK_SET)==EOF||fread(v,2,1,fp)<1) {
trace(2,"geoid data file range error: off=%ld\n",off);
}
return ((short)v[0]<<8)+v[1]; /* big-endian */
}
/* egm96 15x15" model --------------------------------------------------------*/
static double geoidh_egm96(const double *pos)
{
const double lon0=0.0,lat0=90.0,dlon=15.0/60.0,dlat=-15.0/60.0;
const int nlon=1440,nlat=721;
double a,b,y[4];
long i1,i2,j1,j2;
if (!fp_geoid) return 0.0;
a=(pos[1]-lon0)/dlon;
b=(pos[0]-lat0)/dlat;
i1=(long)a; a-=i1; i2=i1<nlon-1?i1+1:0;
j1=(long)b; b-=j1; j2=j1<nlat-1?j1+1:j1;
y[0]=fget2b(fp_geoid,2L*(i1+j1*nlon))*0.01;
y[1]=fget2b(fp_geoid,2L*(i2+j1*nlon))*0.01;
y[2]=fget2b(fp_geoid,2L*(i1+j2*nlon))*0.01;
y[3]=fget2b(fp_geoid,2L*(i2+j2*nlon))*0.01;
return interpb(y,a,b);
}
/* get 4byte float from file -------------------------------------------------*/
static float fget4f(FILE *fp, long off)
{
float v=0.0;
if (fseek(fp,off,SEEK_SET)==EOF||fread(&v,4,1,fp)<1) {
trace(2,"geoid data file range error: off=%ld\n",off);
}
return v; /* small-endian */
}
/* egm2008 model -------------------------------------------------------------*/
static double geoidh_egm08(const double *pos, int model)
{
const double lon0=0.0,lat0=90.0;
double dlon,dlat;
double a,b,y[4];
long i1,i2,j1,j2;
int nlon,nlat;
if (!fp_geoid) return 0.0;
if (model==GEOID_EGM2008_M25) { /* 2.5 x 2.5" grid */
dlon= 2.5/60.0;
dlat=-2.5/60.0;
nlon=8640;
nlat=4321;
}
else { /* 1 x 1" grid */
dlon= 1.0/60.0;
dlat=-1.0/60.0;
nlon=21600;
nlat=10801;
}
a=(pos[1]-lon0)/dlon;
b=(pos[0]-lat0)/dlat;
i1=(long)a; a-=i1; i2=i1<nlon-1?i1+1:0;
j1=(long)b; b-=j1; j2=j1<nlat-1?j1+1:j1;
/* notes: 4byte-zeros are inserted at first and last field of a record */
/* for current geid data files */
/* http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html */
/* (1) Und_min1x1_egm2008_isw=82_WGS84_TideFree_SE.gz */
/* (2) Und_min2.5x2.5_egm2008_isw=82_WGS84_TideFree_SE.gz */
#if 0
/* not zero-inserted */
y[0]=fget4f(fp_geoid,4L*(i1+j1*(nlon)));
y[1]=fget4f(fp_geoid,4L*(i2+j1*(nlon)));
y[2]=fget4f(fp_geoid,4L*(i1+j2*(nlon)));
y[3]=fget4f(fp_geoid,4L*(i2+j2*(nlon)));
#else
/* zero-inserted version (2009/12/10) */
y[0]=fget4f(fp_geoid,4L*(i1+j1*(nlon+2)+1));
y[1]=fget4f(fp_geoid,4L*(i2+j1*(nlon+2)+1));
y[2]=fget4f(fp_geoid,4L*(i1+j2*(nlon+2)+1));
y[3]=fget4f(fp_geoid,4L*(i2+j2*(nlon+2)+1));
#endif
return interpb(y,a,b);
}
/* get gsi geoid data --------------------------------------------------------*/
static double fgetgsi(FILE *fp, int nlon, int nlat, int i, int j)
{
const int nf=28,wf=9,nl=nf*wf+2,nr=(nlon-1)/nf+1;
double v;
long off=nl+j*nr*nl+i/nf*nl+i%nf*wf;
char buff[16]="";
if (fseek(fp,off,SEEK_SET)==EOF||fread(buff,wf,1,fp)<1) {
trace(2,"out of range for gsi geoid: i=%d j=%d\n",i,j);
return 0.0;
}
if (sscanf(buff,"%lf",&v)<1) {
trace(2,"gsi geoid data format error: i=%d j=%d buff=%s\n",i,j,buff);
return 0.0;
}
return v;
}
/* gsi geoid 2000 1.0x1.5" model ---------------------------------------------*/
static double geoidh_gsi(const double *pos)
{
const double lon0=120.0,lon1=150.0,lat0=20.0,lat1=50.0;
const double dlon=1.5/60.0,dlat=1.0/60.0;
const int nlon=1201,nlat=1801;
double a,b,y[4];
int i1,i2,j1,j2;
if (!fp_geoid||pos[1]<lon0||lon1<pos[1]||pos[0]<lat0||lat1<pos[0]) {
trace(2,"out of range for gsi geoid: lat=%.3f lon=%.3f\n",pos[0],pos[1]);
return 0.0;
}
a=(pos[1]-lon0)/dlon;
b=(pos[0]-lat0)/dlat;
i1=(int)a; a-=i1; i2=i1<nlon-1?i1+1:i1;
j1=(int)b; b-=j1; j2=j1<nlat-1?j1+1:j1;
y[0]=fgetgsi(fp_geoid,nlon,nlat,i1,j1);
y[1]=fgetgsi(fp_geoid,nlon,nlat,i2,j1);
y[2]=fgetgsi(fp_geoid,nlon,nlat,i1,j2);
y[3]=fgetgsi(fp_geoid,nlon,nlat,i2,j2);
if (y[0]==999.0||y[1]==999.0||y[2]==999.0||y[3]==999.0) {
trace(2,"geoidh_gsi: data outage (lat=%.3f lon=%.3f)\n",pos[0],pos[1]);
return 0.0;
}
return interpb(y,a,b);
}
/* open geoid model file -------------------------------------------------------
* open geoid model file
* args : int model I geoid model type
* GEOID_EMBEDDED : embedded model(1x1deg)
* GEOID_EGM96_M150 : EGM96 15x15"
* GEOID_EGM2008_M25: EGM2008 2.5x2.5"
* GEOID_EGM2008_M10: EGM2008 1.0x1.0"
* GEOID_GSI2000_M15: GSI geoid 2000 1.0x1.5"
* char *file I geoid model file path
* return : status (1:ok,0:error)
* notes : the following geoid models can be used
* WW15MGH.DAC : EGM96 15x15" binary grid height
* Und_min2.5x2.5_egm2008_isw=82_WGS84_TideFree_SE: EGM2008 2.5x2.5"
* Und_min1x1_egm2008_isw=82_WGS84_TideFree_SE : EGM2008 1.0x1.0"
* gsigeome_ver4 : GSI geoid 2000 1.0x1.5" (japanese area)
* (byte-order of binary files must be compatible to cpu)
*-----------------------------------------------------------------------------*/
extern int opengeoid(int model, const char *file)
{
trace(3,"opengeoid: model=%d file=%s\n",model,file);
closegeoid();
if (model==GEOID_EMBEDDED) {
return 1;
}
if (model!=GEOID_EGM96_M150 &&model!=GEOID_EGM2008_M25&&
model!=GEOID_EGM2008_M10&&model!=GEOID_GSI2000_M15) {
trace(2,"invalid geoid model: model=%d file=%s\n",model,file);
return 0;
}
if (!(fp_geoid=fopen(file,"rb"))) {
trace(2,"geoid model file open error: model=%d file=%s\n",model,file);
return 0;
}
model_geoid=model;
return 1;
}
/* close geoid model file ------------------------------------------------------
* close geoid model file
* args : none
* return : none
*-----------------------------------------------------------------------------*/
extern void closegeoid(void)
{
trace(3,"closegoid:\n");
if (fp_geoid) fclose(fp_geoid);
fp_geoid=NULL;
model_geoid=GEOID_EMBEDDED;
}
/* geoid height ----------------------------------------------------------------
* get geoid height from geoid model
* args : double *pos I geodetic position {lat,lon} (rad)
* return : geoid height (m) (0.0:error)
* notes : to use external geoid model, call function opengeoid() to open
* geoid model before calling the function. If the external geoid model
* is not open, the function uses embedded geoid model.
*-----------------------------------------------------------------------------*/
extern double geoidh(const double *pos)
{
double posd[2],h;
posd[1]=pos[1]*R2D; posd[0]=pos[0]*R2D; if (posd[1]<0.0) posd[1]+=360.0;
if (posd[1]<0.0||360.0-1E-12<posd[1]||posd[0]<-90.0||90.0<posd[0]) {
trace(2,"out of range for geoid model: lat=%.3f lon=%.3f\n",posd[0],posd[1]);
return 0.0;
}
switch (model_geoid) {
case GEOID_EMBEDDED : h=geoidh_emb (posd); break;
case GEOID_EGM96_M150 : h=geoidh_egm96(posd); break;
case GEOID_EGM2008_M25: h=geoidh_egm08(posd,model_geoid); break;
case GEOID_EGM2008_M10: h=geoidh_egm08(posd,model_geoid); break;
case GEOID_GSI2000_M15: h=geoidh_gsi (posd); break;
default: return 0.0;
}
if (fabs(h)>200.0) {
trace(2,"invalid geoid model: lat=%.3f lon=%.3f h=%.3f\n",posd[0],posd[1],h);
return 0.0;
}
return h;
}
/*------------------------------------------------------------------------------
* embedded geoid model
* notes : geoid heights are derived from EGM96 (1 x 1 deg grid)
*-----------------------------------------------------------------------------*/
static const double range[]={0.00,360.00,-90.00,90.00};
static const float geoid[361][181]={{
-29.534f,-27.880f,-24.897f,-21.973f,-18.154f,-15.493f,-14.636f,-12.657f,-10.648f, -9.301f,
-7.084f, -4.850f, -2.015f, 1.642f, 5.903f, 9.258f, 10.905f, 13.100f, 12.465f, 13.448f,
14.464f, 10.528f, 10.660f, 10.931f, 12.894f, 13.775f, 13.406f, 13.503f, 13.701f, 14.329f,
15.132f, 17.828f, 20.762f, 22.627f, 24.433f, 27.098f, 27.238f, 27.168f, 26.391f, 26.405f,
25.022f, 23.761f, 23.319f, 22.775f, 22.479f, 21.243f, 20.774f, 18.793f, 23.573f, 17.031f,
17.474f, 16.804f, 16.597f, 16.734f, 16.967f, 17.767f, 18.370f, 20.028f, 20.044f, 20.940f,
21.409f, 21.247f, 20.852f, 20.564f, 20.098f, 19.847f, 18.959f, 18.146f, 17.336f, 16.808f,
16.339f, 16.371f, 15.504f, 14.713f, 14.061f, 13.421f, 12.683f, 11.942f, 11.145f, 11.092f,
11.477f, 11.602f, 13.059f, 15.223f, 16.411f, 16.838f, 17.664f, 18.217f, 18.196f, 17.846f,
17.162f, 16.992f, 16.895f, 16.616f, 17.673f, 20.453f, 25.912f, 26.234f, 25.914f, 24.272f,
23.262f, 23.412f, 24.155f, 25.095f, 23.751f, 22.245f, 24.140f, 27.104f, 28.980f, 30.837f,
31.445f, 30.261f, 30.432f, 29.865f, 29.163f, 27.348f, 25.617f, 25.845f, 28.325f, 30.965f,
35.389f, 39.102f, 41.083f, 45.020f, 48.293f, 49.580f, 47.460f, 46.235f, 49.156f, 49.913f,
51.091f, 50.314f, 49.985f, 52.108f, 48.706f, 47.140f, 48.169f, 47.587f, 47.370f, 47.048f,
45.038f, 45.301f, 46.300f, 46.367f, 45.821f, 46.184f, 46.676f, 47.262f, 47.762f, 46.927f,
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