1. 导航电文格式解读

C01 2021 12 01 00 00 00-0.392390531488E-03 0.396518373691E-10 0.000000000000E+00
0.100000000000E+01 0.923312500000E+03-0.175864468318E-08 0.562177079103E-01
0.299839302897E-04 0.664370250888E-03 0.300258398056E-05 0.649344501495E+04
0.259200000000E+06-0.103842467070E-06-0.306687686883E+01-0.428408384323E-07
0.803862571188E-01-0.865156250000E+02-0.697794080599E+00 0.264403870625E-08
-0.402159608705E-09 0.160000000000E+02 0.830000000000E+03 0.000000000000E+00
0.200000000000E+01 0.000000000000E+00-0.560000000000E-08-0.104000000000E-07
0.259200000000E+06 0.000000000000E+00

名称 对应数值
卫星系统 C
卫星编号(PRN) 01
BDT时间的年 2021
月、日、时、分、秒 12 01 00 00 00
卫星时钟偏差钟差(S) -0.392390531488E-03
卫星时钟漂移(S/S) 0.396518373691E-10
卫星时钟漂移率(S/$S^2$) 0.000000000000E+00
名称 对应数值
星历数据的有效龄期 0.100000000000E+01
Crs轨道半径正弦改正项 0.923312500000E+03
△n平均运动修正量 -0.175864468318E-08
$M_0$ toe时的平近点角 0.562177079103E-01
名称 对应数值
Cuc 纬度幅角余弦改正项 0.299839302897E-04
e 卫星轨道偏心率 0.664370250888E-03
Cus 纬度幅角正弦改正项 0.300258398056E-05
$\sqrt A$ 轨道长半径平根 0.649344501495E+04
名称 对应数值
toe 星历的基准时间 0.259200000000E+06
Cic 轨道倾角余弦调和项 -0.103842467070E-06
Ω 升交点赤经 -0.306687686883E+01
Cis 轨道倾角正弦项 -0.428408384323E-07
名称 对应数值
I 轨道倾角 0.803862571188E-01
Crc 轨道半径余弦调和项 -0.865156250000E+02
ω 近地点角距 -0.697794080599E+00
$Ω_{dot}$ 升交点赤经变率 0.264403870625E-08
名称 对应数值
$I_{dot}$ 轨道倾角变化率 -0.402159608705E-09
L2 0.160000000000E+02
GPS星期数（TOE） 0.830000000000E+03
L2P数据标志 0.000000000000E+00
名称 对应数值
卫星精度（m） 0.200000000000E+01
卫星健康（MSB） 0.000000000000E+00
TGD单频机延迟改正数 -0.560000000000E-08
IODC时钟数据有效期 -0.104000000000E-07
名称 对应数值
电文发送时间 0.259200000000E+06
拟合区间（h） 0.000000000000E+00

2. 代码部分

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public class Read {
    public  List<SatelliteData> ReadB(String fileName)  {
        //BDT起始时间 2006年1月1日0时0分0秒 星期日
        Long time0Sec = dateToSec(2006, 1, 1, 0, 0, 0);
        List<SatelliteData> SatelliteDataList = null;
        try {
            SatelliteDataList = ReadN(new File("..\\Data\\21b\\" +"tarc"+fileName+"0.21b"));
        } catch (IOException e) {
            System.out.println("文件读取错误");
        }
        //StringBuilder resultOutput = new StringBuilder();
        for (SatelliteData satelliteData : SatelliteDataList) {
            Long timeSec = dateToSec(satelliteData.year, satelliteData.month, satelliteData.day, satelliteData.hour, satelliteData.min, satelliteData.sec);
            //求toc 时钟时间 周内时间
            Long toc = ((timeSec - time0Sec) / 1000) % (604800);
            //由于 ＢＤＳ和 ＧＰＳ的时间系统不统一，需要把归化时间减去１４ｓ来纳入 ＧＰＳ时
            Long t0 = toc-14;
            Double dt = satelliteData.clockDeviation + satelliteData.clockDrift * (t0 - toc) + satelliteData.clockDriftRate * Math.pow((t0 - toc), 2);
            Double t = t0 - dt;
            //LocalDateTime time = LocalDateTime.of(satelliteData.year, satelliteData.month, satelliteData.day, satelliteData.hour, satelliteData.min, satelliteData.sec);
            /*String resultData = */calculateLocation(satelliteData, t);
            //String result = "时间" + time + "\n" + resultData + "\n";
            //System.out.print(result);
            //resultOutput.append(result);
        }
        //String output=resultOutput.toString();
        //File outFile = new File("..\\Result\\" + filename + ".txt");
        //FileWriter fileWriter = new FileWriter(outFile, true);
        //BufferedWriter bufferedWriter = new BufferedWriter(fileWriter);
        //bufferedWriter.write(output);
        //bufferedWriter.flush();
        //fileWriter.close();
        //bufferedWriter.close();
        return SatelliteDataList;
    }

    public static List<SatelliteData> ReadN(File file) throws IOException {
        //打开导航电文文件 windows文件地址手动输 复制会产生空格
        BufferedReader br = new BufferedReader(new FileReader(file));
        //头文件结束的标志
        int header = 0;
        //初始化读取行数
        int row = 1;
        int i = 0;
        List<SatelliteData> satelliteDataList = new ArrayList<>();
        String line;
        while ((line = br.readLine()) != null) {
            if (line.equals("")){
                break;
            }
            if (header == 1) {
                switch (row) {
                    case 1:
                        SatelliteData satelliteData = new SatelliteData();
                        satelliteDataList.add(satelliteData);
                        SatelliteData satelliteData1 = satelliteDataList.get(i);
                        satelliteData1.PRN = Integer.parseInt(line.substring(1, 3));
                        satelliteData1.year = Integer.parseInt(line.substring(4, 8));
                        satelliteData1.month = Integer.parseInt(line.substring(9, 11));
                        satelliteData1.day = Integer.parseInt(line.substring(12, 14));
                        satelliteData1.hour = Integer.parseInt(line.substring(15, 17));
                        satelliteData1.min = Integer.parseInt(line.substring(18, 20));
                        satelliteData1.sec = Integer.parseInt(line.substring(21, 23));
                        satelliteData1.clockDeviation = Double.parseDouble(line.substring(23, 42).trim());
                        satelliteData1.clockDrift = Double.parseDouble(line.substring(42, 61).trim());
                        satelliteData1.clockDriftRate = Double.parseDouble(line.substring(61, 80).trim());
                        row++;
                        break;
                    case (2):
                        SatelliteData satelliteData2 = satelliteDataList.get(i);
                        satelliteData2.effectiveAge = Double.parseDouble(line.substring(4, 23).trim());
                        satelliteData2.Crs = Double.parseDouble(line.substring(23, 42).trim());
                        satelliteData2.delta_n = Double.parseDouble(line.substring(42, 61).trim());
                        satelliteData2.M0 = Double.parseDouble(line.substring(61, 80).trim());
                        row++;
                        break;
                    case (3):
                        SatelliteData satelliteData3 = satelliteDataList.get(i);
                        satelliteData3.Cuc = Double.parseDouble(line.substring(4, 23).trim());
                        satelliteData3.e = Double.parseDouble(line.substring(23, 42).trim());
                        satelliteData3.Cus = Double.parseDouble(line.substring(42, 61).trim());
                        satelliteData3.sqrt_a = Double.parseDouble(line.substring(61, 80).trim());
                        row++;
                        break;
                    case (4):
                        SatelliteData satelliteData4 = satelliteDataList.get(i);
                        satelliteData4.toe = Double.parseDouble(line.substring(4, 23).trim());
                        satelliteData4.Cic = Double.parseDouble(line.substring(23, 42).trim());
                        satelliteData4.OMG0 = Double.parseDouble(line.substring(42, 61).trim());
                        satelliteData4.Cis = Double.parseDouble(line.substring(61, 80).trim());
                        row++;
                        break;
                    case (5):
                        SatelliteData satelliteData5 = satelliteDataList.get(i);
                        satelliteData5.I = Double.parseDouble(line.substring(4, 23).trim());
                        satelliteData5.Crc = Double.parseDouble(line.substring(23, 42).trim());
                        satelliteData5.omg = Double.parseDouble(line.substring(42, 61).trim());
                        satelliteData5.OMG0_DOT = Double.parseDouble(line.substring(61, 80).trim());
                        row++;
                        break;
                    case (6):
                        SatelliteData satelliteData6 = satelliteDataList.get(i);
                        satelliteData6.I_dot = Double.parseDouble(line.substring(4, 23).trim());
                        row++;
                        break;
                    case (7):
                        row++;
                        break;
                    case (8):
                        i++;
                        row = 1;
                        break;
                }
            }
            if (line.contains("END OF HEADER")) {
                header = 1;
            }
        }
        br.close();
        return satelliteDataList;
    }

    public static Long dateToSec(int year, int month, int day, int hour, int min, int sec) {
        LocalDateTime time = LocalDateTime.of(year, month, day, hour, min, sec);
        java.util.Date dtTime = java.util.Date.from(time.atZone(ZoneId.systemDefault()).toInstant());
        return dtTime.getTime();
    }

    public static String calculateLocation(SatelliteData satelliteData, Double t) {


        //长半径
        double A = Math.pow(satelliteData.sqrt_a, 2);
        //地球重力常数
        double constGM = 3.986004418e14;
        //平均角速度
        double n0 = Math.sqrt(constGM / Math.pow(A, 3));
        double n = n0 + satelliteData.delta_n;
        //计算归化时间
        double tk = t - satelliteData.toe;
        //平近点角
        double Mk = satelliteData.M0 + n * tk;
        //偏近点角
        double Ek0 = 0;
        double Ek1 = Mk;
        while (Math.abs(Ek1 - Ek0) > 10e-12) {
            Ek0 = Ek1;
            Ek1 = Mk + satelliteData.e * Math.sin(Ek0);
        }
        double Ek = Ek0;
        //真近点角 纬度幅角参数
        double vk = Math.atan(Math.sqrt(1-Math.pow(satelliteData.e,2))*Math.sin(Ek)/(Math.cos(Ek)-satelliteData.e));
         //vk=2*Math.atan((Math.sqrt((1+satelliteData.e)/(1-satelliteData.e))*tan(Ek/2)));
        //升交角距
        //vk=2*Math.atan((Math.sqrt((1+satelliteData.e)/(1-satelliteData.e))*Math.tan(Ek/2))); //\\
        double phi_k = vk + satelliteData.omg;
        //扰动改正
        double delta_uk = satelliteData.Cuc * Math.cos(2 * phi_k) + satelliteData.Cus * Math.sin(2 * phi_k);
        double delta_rk = satelliteData.Crc * Math.cos(2 * phi_k) + satelliteData.Crs * Math.sin(2 * phi_k);
        double delta_ik = satelliteData.Cic * Math.cos(2 * phi_k) + satelliteData.Cis * Math.sin(2 * phi_k);
        //赤经 半径 轨道倾角改正
        double uk = phi_k + delta_uk;
        double rk = A * (1 - satelliteData.e * Math.cos(Ek)) + delta_rk;
        double ik = satelliteData.I + satelliteData.I_dot*tk+delta_ik;
        //卫星在轨道上的位置
        double xk = rk * Math.cos(uk);
        double yk = rk * Math.sin(uk);
        //地球自转角速度
        double OMGe = 7.292115e-5;
        //PRN>5 的为ＭＥＯ／ＩＧＳＯ 卫星在 ＣＧＣＳ２０００坐标系中的坐标
        if (satelliteData.PRN > 5) {
            //历元t升交点的赤赤经
            double OMGk = satelliteData.OMG0 + (satelliteData.OMG0_DOT - OMGe) * tk - OMGe * satelliteData.toe;
            //卫星在地心地固坐标系中的位置
            double x_E = xk * Math.cos(OMGk) - yk * Math.cos(ik) * Math.sin(OMGk);
            double y_E = xk * Math.sin(OMGk) + yk * Math.cos(ik) * Math.cos(OMGk);
            double z_E = yk * Math.sin(ik);
            satelliteData.X = x_E;
            satelliteData.Y = y_E;
            satelliteData.Z = z_E;
        } else {
            //历元t升交点的赤经
            double OMGk = satelliteData.OMG0 + satelliteData.OMG0_DOT * tk - OMGe * satelliteData.toe;
            //计算 ＧＥＯ 卫星在自定义坐标系系中的坐标
            double x_E = xk * Math.cos(OMGk) - yk * Math.cos(ik) * Math.sin(OMGk);
            double y_E = xk * Math.sin(OMGk) + yk * Math.cos(ik) * Math.cos(OMGk);
            double z_E = yk * Math.sin(ik);
            //计算 ＧＥＯ卫星在ＣＧＣＳ２０００坐标系中的坐标
            double v = Math.toRadians(-5);
            double[][] rx = {{1, 0, 0}, {0, Math.cos(v), Math.sin(v)}, {0, -Math.sin(v), Math.cos(v)}};
            double[][] rz = {{Math.cos(OMGe * tk), Math.sin(OMGe * tk), 0}, {-Math.sin(OMGe * tk), Math.cos(OMGe * tk), 0}, {0, 0, 1}};
            double[][] location = {{x_E}, {y_E}, {z_E}};
            double[][] d1 = MatrixMultiply(rz, rx);
            double[][] d = MatrixMultiply(d1, location);
            satelliteData.X = d[0][0] ;
            satelliteData.Y = d[1][0];
            satelliteData.Z = d[2][0];
        }
        return "卫星：" + satelliteData.PRN + /*",长半径：" + A + "，平均角速度：" + n0
                    + "，\n偏近点角：" + Ek + "，真近点角" + vk + ",升交角距：" + phi_k
                    + "，\n改正赤经：" + uk + "，改正半径：" + rk + "，改正轨道倾角：" + ik
                    + "，\n卫星在轨道上的位置(" + xk + "," + yk + ")，赤纬：" + lambda
                    + */"，\n卫星在地心地固坐标系中的位置：(" + satelliteData.X + "," + satelliteData.Y + "," + satelliteData.Z + ")\n";
    }

    public static double[][] MatrixMultiply(double[][] m1,double[][] m2){
        if(m1==null||m2==null||m1[0].length!=m2.length) {
            return null;
        }

        double[][] m=new double[m1.length][m2[0].length];
        for(int i=0;i<m1.length;++i){
            for(int j=0;j<m2[0].length;++j){
                for (int k=0;k<m1[i].length;++k){
                    m[i][j]+=m1[i][k]*m2[k][j];
                }
            }
        }

        return m;
    }
}
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public class ReadSp3 {
    public List<SatelliteData> ReadSp3(String fileName) {
        List<SatelliteData> satelliteDataSP3List = null;
        try {
            satelliteDataSP3List = ReadSP3(new File("..\\Data\\SP3\\" +"GBM0MGXRAP_2021"+fileName+"0000_01D_05M_ORB.SP3"));
        } catch (IOException e) {
            System.out.println("读取错误");
        }
        //for (SatelliteData satelliteDataSP3 : satelliteDataSP3List) {
        //    LocalDateTime time = LocalDateTime.of(satelliteDataSP3.year, satelliteDataSP3.month, satelliteDataSP3.day, satelliteDataSP3.hour, satelliteDataSP3.min, satelliteDataSP3.sec);
        //    System.out.println(time);
        //    System.out.println("卫星:" + satelliteDataSP3.PRN +
        //            "，\n卫星在地心地固坐标系中的位置：(" + satelliteDataSP3.X + "," + satelliteDataSP3.Y + "," + satelliteDataSP3.Z + ")\n");
        //}
        return satelliteDataSP3List;

    }

    public static List<SatelliteData> ReadSP3(File file) throws IOException {
        List<SatelliteData> satelliteDataSP3List = new ArrayList<>();
        BufferedReader br = new BufferedReader(new FileReader(file));
        SatelliteData satelliteData = new SatelliteData();
        String line;
        while ((line = br.readLine()) != null) {
            if (line.charAt(0) == '*') {
                satelliteData.year = Integer.parseInt(line.substring(3, 7));
                satelliteData.month = Integer.parseInt(line.substring(8, 10).trim());
                satelliteData.day = Integer.parseInt(line.substring(11, 13).trim());
                satelliteData.hour = Integer.parseInt(line.substring(14, 16).trim());
                satelliteData.min = Integer.parseInt(line.substring(17, 19).trim());
                satelliteData.sec = Integer.parseInt(line.substring(20, 22).trim());
            }
            if (line.substring(0, 2).equals("PC")) {
                SatelliteData satelliteDataSP3 = new SatelliteData();
                satelliteDataSP3.setYear(satelliteData.year);
                satelliteDataSP3.setMonth(satelliteData.month);
                satelliteDataSP3.setDay(satelliteData.day);
                satelliteDataSP3.setHour(satelliteData.hour);
                satelliteDataSP3.setMin(satelliteData.min);
                satelliteDataSP3.setSec(satelliteData.sec);
                satelliteDataSP3.PRN = Integer.parseInt(line.substring(2, 4));
                satelliteDataSP3.X = Double.parseDouble(line.substring(5, 18).trim())*1000;
                satelliteDataSP3.Y = Double.parseDouble(line.substring(19, 32).trim())*1000;
                satelliteDataSP3.Z = Double.parseDouble(line.substring(33, 46).trim())*1000;
                satelliteDataSP3List.add(satelliteDataSP3);
            }
        }
        return satelliteDataSP3List;
    }
}
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public class SatelliteData {
    Integer PRN;//卫星的PRN码
    //卫星时间
    Integer year;
    Integer month;
    Integer day;
    Integer hour;
    Integer min;
    Integer sec;
    //卫星时钟参数
    Double clockDeviation;//卫星时钟偏差钟差
    Double clockDrift;//卫星时钟漂移
    Double clockDriftRate;//卫星时钟漂移率

    Double effectiveAge;//星历数据的有效龄期
    Double Crs;// 轨道半径正弦改正项
    Double delta_n;//平均运动修正量
    Double M0;//toe 时的平近点角

    Double Cuc;//纬度幅角余弦改正项
    Double e;//卫星轨道偏心率
    Double Cus;//纬度幅角正弦改正项
    Double sqrt_a;//轨道长半径平根

    Double toe;//星历的基准时间
    Double Cic;//轨道倾角余弦调和项
    Double OMG0;//升交点赤经
    Double Cis;//轨道倾角正弦项

    Double I;//轨道倾角
    Double Crc;//轨道半径余弦调和项
    Double omg;//近地点角距
    Double OMG0_DOT;//升交点赤经变率

    Double I_dot;//轨道倾角变化率

    @Override
    public String toString() {
        return "SatelliteData{" +
                "PRN=" + PRN +
                ", year=" + year +
                ", month=" + month +
                ", day=" + day +
                ", hour=" + hour +
                ", min=" + min +
                ", sec=" + sec +
                ", clockDeviation=" + clockDeviation +
                ", clockDrift=" + clockDrift +
                ", clockDriftRate=" + clockDriftRate +
                ", effectiveAge=" + effectiveAge +
                ", Crs=" + Crs +
                ", delta_n=" + delta_n +
                ", M0=" + M0 +
                ", Cuc=" + Cuc +
                ", e=" + e +
                ", Cus=" + Cus +
                ", sqrt_a=" + sqrt_a +
                ", toe=" + toe +
                ", Cic=" + Cic +
                ", OMG0=" + OMG0 +
                ", Cis=" + Cis +
                ", I=" + I +
                ", Crc=" + Crc +
                ", omg=" + omg +
                ", OMG0_DOT=" + OMG0_DOT +
                ", I_dot=" + I_dot +
                ", X=" + X +
                ", Y=" + Y +
                ", Z=" + Z +
                '}';
    }

    Double X;
    Double Y;
    Double Z;

    Double dx;
    Double dy;
    Double dz;


    public Double getX() {
        return X;
    }

    public void setX(Double x) {
        X = x;
    }

    public Double getY() {
        return Y;
    }

    public void setY(Double y) {
        Y = y;
    }

    public Double getZ() {
        return Z;
    }

    public void setZ(Double z) {
        Z = z;
    }

    public int getPRN() {
        return PRN;
    }

    public void setPRN(int PRN) {
        this.PRN = PRN;
    }

    public Integer getYear() {
        return year;
    }

    public void setYear(Integer year) {
        this.year = year;
    }

    public Integer getMonth() {
        return month;
    }

    public void setMonth(Integer month) {
        this.month = month;
    }

    public Integer getDay() {
        return day;
    }

    public void setDay(Integer day) {
        this.day = day;
    }

    public Integer getHour() {
        return hour;
    }

    public void setHour(Integer hour) {
        this.hour = hour;
    }

    public Integer getMin() {
        return min;
    }

    public void setMin(Integer min) {
        this.min = min;
    }

    public Integer getSec() {
        return sec;
    }

    public void setSec(Integer sec) {
        this.sec = sec;
    }

    public Double getClockDeviation() {
        return clockDeviation;
    }

    public void setClockDeviation(Double clockDeviation) {
        this.clockDeviation = clockDeviation;
    }

    public Double getClockDrift() {
        return clockDrift;
    }

    public void setClockDrift(Double clockDrift) {
        this.clockDrift = clockDrift;
    }

    public Double getClockDriftRate() {
        return clockDriftRate;
    }

    public void setClockDriftRate(Double clockDriftRate) {
        this.clockDriftRate = clockDriftRate;
    }

    public Double getEffectiveAge() {
        return effectiveAge;
    }

    public void setEffectiveAge(Double effectiveAge) {
        this.effectiveAge = effectiveAge;
    }

    public Double getCrs() {
        return Crs;
    }

    public void setCrs(Double crs) {
        Crs = crs;
    }

    public Double getDelta_n() {
        return delta_n;
    }

    public void setDelta_n(Double delta_n) {
        this.delta_n = delta_n;
    }

    public Double getM0() {
        return M0;
    }

    public void setM0(Double m0) {
        M0 = m0;
    }

    public Double getCuc() {
        return Cuc;
    }

    public void setCuc(Double cuc) {
        Cuc = cuc;
    }

    public Double getE() {
        return e;
    }

    public void setE(Double e) {
        this.e = e;
    }

    public Double getCus() {
        return Cus;
    }

    public void setCus(Double cus) {
        Cus = cus;
    }

    public Double getSqrt_a() {
        return sqrt_a;
    }

    public void setSqrt_a(Double sqrt_a) {
        this.sqrt_a = sqrt_a;
    }

    public Double getToe() {
        return toe;
    }

    public void setToe(Double toe) {
        this.toe = toe;
    }

    public Double getCic() {
        return Cic;
    }

    public void setCic(Double cic) {
        Cic = cic;
    }

    public Double getOMG0() {
        return OMG0;
    }

    public void setOMG0(Double OMG0) {
        this.OMG0 = OMG0;
    }

    public Double getCis() {
        return Cis;
    }

    public void setCis(Double cis) {
        Cis = cis;
    }

    public Double getI() {
        return I;
    }

    public void setI(Double i) {
        I = i;
    }

    public Double getCrc() {
        return Crc;
    }

    public void setCrc(Double crc) {
        Crc = crc;
    }

    public Double getOmg() {
        return omg;
    }

    public void setOmg(Double omg) {
        this.omg = omg;
    }

    public Double getOMG0_DOT() {
        return OMG0_DOT;
    }

    public void setOMG0_DOT(Double OMG0_DOT) {
        this.OMG0_DOT = OMG0_DOT;
    }

    public Double getI_dot() {
        return I_dot;
    }

    public void setI_dot(Double i_dot) {
        I_dot = i_dot;
    }
}
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public class Demo {
    public static void main(String[] args) throws IOException {
        Read read = new Read();
        ReadSp3 readSp3 = new ReadSp3();
        int[] a=new int[61];
        int b=0;
        int c=0;
        int n=0;
        double dx=0;
        double dy=0;
        double dz=0;
        double rx=0;
        double ry=0;
        double rz=0;
        double RMS=0;
        StringBuilder resultOutput = new StringBuilder();
        for (int i = 335; i < 335+31; i++) {
        List<SatelliteData> satelliteDataList = read.ReadB(String.valueOf(i));
        List<SatelliteData> satelliteDataSP3List = readSp3.ReadSp3(String.valueOf(i));
        for (SatelliteData satelliteData:satelliteDataList){
            LocalDateTime time = LocalDateTime.of(satelliteData.year, satelliteData.month, satelliteData.day, satelliteData.hour, satelliteData.min, satelliteData.sec);
            for (SatelliteData satelliteDataSP3:satelliteDataSP3List){
                LocalDateTime timeSP3 = LocalDateTime.of(satelliteDataSP3.year, satelliteDataSP3.month, satelliteDataSP3.day, satelliteDataSP3.hour, satelliteDataSP3.min, satelliteDataSP3.sec);
                if (time.isEqual(timeSP3)&& satelliteData.PRN.equals(satelliteDataSP3.PRN)){
                    double X=satelliteData.X-satelliteDataSP3.X;
                    double Y=satelliteData.Y-satelliteDataSP3.Y;
                    double Z=satelliteData.Z-satelliteDataSP3.Z;
                    double D=Math.sqrt(X*X+Y*Y+Z*Z);
                    c++;
                    //if (Math.abs(X) > 10 ||  Math.abs(Y) > 10||  Math.abs(Z) > 10){
                        if (Math.abs(X) < 10 && Math.abs(Y) < 10 && Math.abs(Z) < 10&&(satelliteData.PRN==22)) {
                            System.out.println(satelliteData.PRN + "," + satelliteData.day + " " + satelliteData.hour +  "," + X + "," + Y + "," + Z+","+D);
                            dx+=X;
                            dy+=Y;
                            dz+=Z;
                            rx+=X*X;
                            ry+=Y*Y;
                            rz+=Z*Z;
                            //System.out.println(X+"     "+Y+"    "+Z);
                            resultOutput.append(satelliteData.PRN + "," + ((satelliteData.day-1)*24+ satelliteData.hour) +  "," + X + "," + Y + "," + Z +","+D +"\n");
                            //resultOutput.append(satelliteData.PRN + "," +satelliteData.day+  ","+ satelliteData.hour+  "," + X + "," + Y + "," + Z +","+D +"\n");
                            a[satelliteData.PRN]++;
                            n+=X*X+Y*Y+Z*Z;
                            b++;
                        }
               }
            }
        }
        }
        System.out.println("dx均值为"+dx/b);
        System.out.println("dxRMS为"+Math.sqrt(rx/b));
        System.out.println("dy均值为"+dy/b);
        System.out.println("dyRMS为"+Math.sqrt(ry/b));
        System.out.println("dz均值为"+dz/b);
        System.out.println("dzRMS为"+Math.sqrt(rz/b));
        System.out.println(Math.sqrt(n/b));
        String output = resultOutput.toString();
        //File file = new File("..\\Result\\所有卫星小时误差小于10.txt");
        //FileWriter fileWriter = new FileWriter(file, true);
        //BufferedWriter bufferedWriter = new BufferedWriter(fileWriter);
        //bufferedWriter.write(output);
        //bufferedWriter.flush();
        //fileWriter.close();
        //bufferedWriter.close();
    }
}