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fixing computation of observables in DF011 and DF012

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This commit is contained in:
Carles Fernandez 2015-11-25 14:03:31 +01:00
parent b9f51a5e6b
commit 08f5df9849
1 changed files with 9 additions and 6 deletions
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15
src/core/system_parameters/rtcm.cc
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@ -1167,7 +1167,8 @@ int Rtcm::set_DF010(bool code_indicator)
int Rtcm::set_DF011(const Gnss_Synchro & gnss_synchro) int Rtcm::set_DF011(const Gnss_Synchro & gnss_synchro)
{ {
unsigned long int gps_L1_pseudorange = static_cast<long unsigned int>(std::round(std::fmod(gnss_synchro.Pseudorange_m, 299792.458) / 0.02 )); double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 299792.458 );
unsigned long int gps_L1_pseudorange = static_cast<unsigned long int>(std::round(( gnss_synchro.Pseudorange_m - ambiguity * 299792.458) / 0.02 ));
DF011 = std::bitset<24>(gps_L1_pseudorange); DF011 = std::bitset<24>(gps_L1_pseudorange);
return 0; return 0;
} }
@ -1175,12 +1176,14 @@ int Rtcm::set_DF011(const Gnss_Synchro & gnss_synchro)
int Rtcm::set_DF012(const Gnss_Synchro & gnss_synchro) int Rtcm::set_DF012(const Gnss_Synchro & gnss_synchro)
{ {
const double lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
double L1_pseudorange = gnss_synchro.Pseudorange_m; double L1_pseudorange = gnss_synchro.Pseudorange_m;
//double L1_pseudorange_integers = std::floor(L1_pseudorange / 299792.458); double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 299792.458 );
double L1_pseudorange_field = std::fmod(L1_pseudorange, 299792.458); double gps_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 299792.458) / 0.02 );
double L1_phaserange_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI) * GPS_C_m_s / GPS_L1_FREQ_HZ; double gps_L1_pseudorange_c = static_cast<double>(gps_L1_pseudorange) * 0.02 + ambiguity * 299792.458;
double L1_phaserange_c = gnss_synchro.Carrier_phase_rads * GPS_TWO_PI;
long int gps_L1_phaserange_minus_L1_pseudorange = static_cast<long int>((L1_phaserange_m - L1_pseudorange_field) / 0.0005); /////////////////////// double L1_phaserange_c_r = std::fmod(L1_phaserange_c - gps_L1_pseudorange_c / lambda + 1500.0, 3000.0) - 1500.0;
long int gps_L1_phaserange_minus_L1_pseudorange = static_cast<long int>(std::round(L1_phaserange_c_r * lambda / 0.0005 ));
DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange); DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
return 0; return 0;
} }