gps nmea数据格式解析与生成
2024-04-11 03:38:14
一、nmea数据格式介绍
nmea数据如下：
$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
$GPGSV,3,3,10,29,07,074,,30,07,163,28*7D
说明：NMEA0183格式以“$”开始，主要语句有GPGGA，GPVTG，GPRMC等
1、 GPS DOP and Active Satellites（GSA）当前卫星信息
$GPGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>,<7><CR><LF>
<1>模式 ：M = 手动， A = 自动。
<2>定位型式 1 = 未定位， 2 = 二维定位， 3 = 三维定位。
<3>PRN 数字：01 至 32 表天空使用中的卫星编号，最多可接收12颗卫星信息。
<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.(检查位).
2、 GPS Satellites in View（GSV）可见卫星信息
$GPGSV, <1>,<2>,<3>,<4>,<5>,<6>,<7>,?<4>,<5>,<6>,<7>,<8><CR><LF>
<1> GSV语句的总数
<2> 本句GSV的编号
<3> 可见卫星的总数，00 至 12。
<4> 卫星编号， 01 至 32。
<5>卫星仰角， 00 至 90 度。
<6>卫星方位角， 000 至 359 度。实际值。
<7>讯号噪声比（C/No）， 00 至 99 dB；无表未接收到讯号。
<8>Checksum.(检查位).
第<4>,<5>,<6>,<7>项个别卫星会重复出现，每行最多有四颗卫星。其余卫星信息会于次一行出现，若未使用，这些字段会空白。
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时间，hhmmss（时分秒）格式
<2> 纬度ddmm.mmmm（度分）格式（前面的0也将被传输）
<3> 纬度半球N（北半球）或S（南半球）
<4> 经度dddmm.mmmm（度分）格式（前面的0也将被传输）
<5> 经度半球E（东经）或W（西经）
<6> GPS状态：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卫星数量（00~12）（前面的0也将被传输）
<8> HDOP水平精度因子（0.5~99.9）
<9> 海拔高度（-9999.9~99999.9）
<10> 地球椭球面相对大地水准面的高度
<11> 差分时间（从最近一次接收到差分信号开始的秒数，如果不是差分定位将为空）
<12> 差分站ID号0000~1023（前面的0也将被传输，如果不是差分定位将为空）
4、Recommended Minimum Specific GPS/TRANSIT Data（RMC）推荐定位信息
$GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh<CR><LF>
<1> UTC时间，hhmmss（时分秒）格式
<2> 定位状态，A=有效定位，V=无效定位
<3> 纬度ddmm.mmmm（度分）格式（前面的0也将被传输）
<4> 纬度半球N（北半球）或S（南半球）
<5> 经度dddmm.mmmm（度分）格式（前面的0也将被传输）
<6> 经度半球E（东经）或W（西经）
<7> 地面速率（000.0~999.9节，前面的0也将被传输）
<8> 地面航向（000.0~359.9度，以真北为参考基准，前面的0也将被传输）
<9> UTC日期，ddmmyy（日月年）格式
<10> 磁偏角（000.0~180.0度，前面的0也将被传输）
<11> 磁偏角方向，E（东）或W（西）
<12> 模式指示（仅NMEA0183 3.00版本输出，A=自主定位，D=差分，E=估算，N=数据无效）
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> 以真北为参考基准的地面航向（000~359度，前面的0也将被传输）
<2> 以磁北为参考基准的地面航向（000~359度，前面的0也将被传输）
<3> 地面速率（000.0~999.9节，前面的0也将被传输）
<4> 地面速率（0000.0~1851.8公里/小时，前面的0也将被传输）
<5> 模式指示（仅NMEA0183 3.00版本输出，A=自主定位，D=差分，E=估算，N=数据无效）
二、gps数据解析与生成类
//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个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个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 数据解析与生成#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', //数据有效(GPRMC/GNRMC)GpsStatus_Invalid = 'V', //数据无效(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)
};//纬度方向
enum GpsLatDirect
{GpsLatDirect_N = 'N', //北纬GpsLatDirect_S = 'S', //南纬
};//经度方向
enum GpsLngDirect
{GpsLngDirect_E = 'E', //东经GpsLngDirect_W = 'W', //西经
};//磁偏角方向，E=东，W=西
enum GpsDeclinationDirect
{GpsDeclinationDirect_Invalid= '0',GpsDeclinationDirect_E = 'E',GpsDeclinationDirect_W = 'W',
};//模式，A=自动，D=差分，E=估测，N=数据无效
enum GpsMode
{GpsMode_A = 'A',GpsMode_D = 'D',GpsMode_E = 'E',GpsMode_N = 'N',
};class GpsNmeaData
{
public:GpsNmeaData();virtual ~GpsNmeaData();//设置初始gps数据格式void SetInitGpsDataFormat(unsigned char ucInitGpsDataFormat);//加载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);//加载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);//加载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);//加载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);//计算经纬度（根据速度和方向计算下一经纬度）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);//计算经纬度（根据距离和方向计算下一经纬度）void CalcLngLatByDistanceAndDirect(float fDirect, double fDistance, double dOldLng, double dOldLat, double & dNewLng, double & dNewLat);//获取与设置参数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://度分转换度static double dm_to_degree(double dm);//度转换度分static double degree_to_dm(double ddd_dddd);//计算两点经纬度之间的距离static double GpsNmeaDataDistance(double latitude1, double longitude1, double latitude2, double longitude2);protected://计算校验和unsigned char CalcChecksum(unsigned char *pInput, int nInputSize);protected:unsigned char m_ucGpsDataFormat; //GPS数据格式double m_fLng; //经度unsigned char m_ucGpsLngDirect;double m_fLat; //纬度unsigned char m_ucGpsLatDirect;float m_fSpeed; //速度,千米／小时 (一节也是1.852千米／小时)float m_fDirect; //方向unsigned char m_ucStatus; //GPS状态 A=数据有效；V=数据无效unsigned char m_ucDeclination; //磁偏角,（000 - 180）度（前导位数不足则补0）unsigned char m_ucDeclinationDirect;//磁偏角方向，E=东，W=西unsigned char m_ucMode; //模式，A=自动，D=差分，E=估测，N=数据无效unsigned char m_ucChecksum; //校验和unsigned char m_ucSatelliteNum; //卫星数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; //地球椭球面相对大地水准面的高度 unsigned int m_uiDiffTime; //差分时间（从最近一次接收到差分信号开始的秒数，如果不是差分定位将为空） unsigned short m_usDiffSiteId; //差分站ID号0000~1023（前面的0也将被传输，如果不是差分定位将为空）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个数
#define GpsNmeaData_Gnrmc_Head "$GNRMC" //Gps nmea帧头，$GNRMC
#define GpsNmeaData_Gprmc_Head "$GPRMC" //Gps nmea帧头，$GPRMC
#define GpsNmeaData_Gpgga_Head "$GPGGA" //Gps nmea帧头，$GPGGAconst double PI = 3.14159265358979323846;
const double Ea = 6378137; // 赤道半径
const double Eb = 6356725; // 极半径 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()
{
}//设置初始gps数据格式
void GpsNmeaData::SetInitGpsDataFormat(unsigned char ucInitGpsDataFormat)
{m_ucGpsDataFormat = ucInitGpsDataFormat;
}//获取与设置参数
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()
{//格林威治时间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);
}//加载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{//非法数据格式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;
}//加载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时间sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//状态if (vecValue[2].size() > 0){m_ucStatus = vecValue[2].c_str()[0];}else{m_ucStatus = GpsStatus_Invalid;}//纬度double fLatMD = atof(vecValue[3].c_str());m_fLat = dm_to_degree(fLatMD);//北纬/南纬if (vecValue[4].size() > 0){m_ucGpsLatDirect = vecValue[4].c_str()[0];}//经度double fLngMD = atof(vecValue[5].c_str());m_fLng = dm_to_degree(fLngMD);//东经/西经if (vecValue[6].size() > 0){m_ucGpsLngDirect = vecValue[6].c_str()[0];}//速度，单位节，一节也是1.852千米／小时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、校验sscanf(vecValue[12].c_str(), "%c*%X", &m_ucMode, &m_ucChecksum);//计算校验和比对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);//纬度double fLatMD = degree_to_dm(m_fLat);//经度double fLngMD = degree_to_dm(m_fLng);//速度(节)float fSpeedByNodeUnit = m_fSpeed/1.852;if (m_ucStatus == GpsStatus_Invalid){//数据无效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//数据有效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet;
}//加载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时间sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//状态if (vecValue[2].size() > 0){m_ucStatus = vecValue[2].c_str()[0];}else{m_ucStatus = GpsStatus_Invalid;}//纬度double fLatMD = atof(vecValue[3].c_str());m_fLat = dm_to_degree(fLatMD);//北纬/南纬if (vecValue[4].size() > 0){m_ucGpsLatDirect = vecValue[4].c_str()[0];}//经度double fLngMD = atof(vecValue[5].c_str());m_fLng = dm_to_degree(fLngMD);//东经/西经if (vecValue[6].size() > 0){m_ucGpsLngDirect = vecValue[6].c_str()[0];}//速度，单位节，一节也是1.852千米／小时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、校验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);}//计算校验和比对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);//纬度double fLatMD = degree_to_dm(m_fLat);//经度double fLngMD = degree_to_dm(m_fLng);//速度(节)float fSpeedByNodeUnit = m_fSpeed / 1.852;if (m_ucStatus == GpsStatus_Invalid){//数据无效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//数据有效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet;
}//加载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时间sscanf(vecValue[1].c_str(), "%2d%2d%2d.%d", &m_usHour, &m_usMinute, &m_usSecond, &m_usMillsSecond);//纬度double fLatMD = atof(vecValue[2].c_str());m_fLat = dm_to_degree(fLatMD);//北纬/南纬if (vecValue[3].size() > 0){m_ucGpsLatDirect = vecValue[3].c_str()[0];}//经度double fLngMD = atof(vecValue[4].c_str());m_fLng = dm_to_degree(fLngMD);//东经/西经if (vecValue[5].size() > 0){m_ucGpsLngDirect = vecValue[5].c_str()[0];}//状态if (vecValue[6].size() > 0){m_ucStatus = vecValue[6].c_str()[0];}else{m_ucStatus = '0';}//卫星数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//地球椭球面相对大地水准面的高度m_fEarthHigh = atof(vecValue[11].c_str());//M//差分时间m_uiDiffTime = atol(vecValue[13].c_str());//差分站ID号、校验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);}//计算校验和比对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);//纬度double fLatMD = degree_to_dm(m_fLat);//经度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'){//数据无效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}else{//数据有效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){//是否带结束标记符号，0x0d0x0achar szEndFlag[4] = { 0 };sprintf_s(szEndFlag, "%c%c", 0x0d, 0x0a);strcat(pOutputString, szEndFlag);}nOutputStringSize = strlen(pOutputString);}return bRet;
}/*
功能：计算经纬度（根据速度和方向计算下一经纬度）
参数：fDirect：方向；fSpeed:速度；km/h；dOldLng：旧经度；dOldLat：旧纬度；dNewLng：新经度；dNewLat：新纬度
返回：无
*/
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：计算经纬度（根据速度和方向计算下一经纬度）
参数：fDirect：方向；fSpeed:速度；km/h；dOldLng：旧经度；dOldLat：旧纬度；dNewLng：新经度；dNewLat：新纬度；nKeepSeconds：保持多少秒
返回：无
*/
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;//速度计算单位时间内车辆行驶距离,这里单位为千米。换算成每秒多少km，外部接口一秒发送一次gps数据float degree = distance / 111;//kmfloat tempLat = degree * cos(declie);float tempLong = degree * sin(declie);dNewLat = dOldLat + tempLat;dNewLng = dOldLng + tempLong;
}/*
功能：计算经纬度（根据距离和方向计算下一经纬度）
参数：fDirect：方向；fDistance:距离；km；dOldLng：旧经度；dOldLat：旧纬度；dNewLng：新经度；dNewLat：新纬度
返回：无
*/
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;
}//计算校验和
unsigned char GpsNmeaData::CalcChecksum(unsigned char *pInput, int nInputSize)
{//$与*符号之间的字符进行异或unsigned char ucChecksum = 0;int i = 0;for (i = 1; i < nInputSize - 1; i++)//排除$与*符号{ucChecksum ^= pInput[i];}return ucChecksum;
}//度分转换度
double GpsNmeaData::dm_to_degree(double dm)
{//计算度int d = (int)(dm / 100);//计算分double m = dm - d * 100;double s = d * 3600 + m * 60;double dd_dddd = s / 3600.0;return dd_dddd;
}//度转换度分
double GpsNmeaData::degree_to_dm(double ddd_dddd)
{int d = (int)(ddd_dddd);double m = (ddd_dddd - d) * 60;double dddmm_mmmm = d * 100 + m;return dddmm_mmmm;
}/*
功能：计算两点经纬度之间的距离
参数：latitude1：点1纬度值；longitude1：点1经度值；latitude2：点2纬度值；longitude2：点2经度值
返回：double，距离，单位为m
*/
double GpsNmeaData::GpsNmeaDataDistance(double latitude1, double longitude1, double latitude2, double longitude2)
{double lon1 = longitude1 * PI / 180;double lat1 = latitude1 * PI / 180;double lon2 = longitude2 * PI / 180;double lat2 = latitude2 * PI / 180;double deltaLat = lat1 - lat2;double deltaLon = lon1 - lon2;double s = 2 * asin(sqrt(pow(sin(deltaLat / 2), 2) + cos(lat1)*cos(lat2)*pow(sin(deltaLon / 2), 2)));return (s * 1000 * 6378.137);
}
//调用实例
GpsNmeaData gndGpsNmeaData;
bool bLoadGpsNmeaDataString = gndGpsNmeaData.LoadGPSString("$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;//获取经纬度等信息gndGpsNmeaData.GetLng(fLngPrev, ucLngPrevDirect);gndGpsNmeaData.GetLat(fLatPrev, ucLatPrevDirect);//计算gndGpsNmeaData.CalcLngLatByDistanceAndDirect(fDirect, 30, fLngPrev, fLatPrev, fNewLng, fNewLat);//保存经纬度等信息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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