mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-10-23 03:27:39 +00:00
Code Issues Releases Wiki Activity

Added velocity and clock drift to PVT

Browse Source 
Interestingly RTKLIB does not store the clock drift in its sol_t
datatype, so I added this to the unused element dtr[5]. This may not be
compatible with future versions of RTKLIB.

Here we store velocity in ENU coordinates and the clock drift in parts
per million (PPM)
This commit is contained in:
Cillian O'Driscoll
2017-08-29 11:27:13 +01:00
parent afb2eb16c6
commit 216e8dfa26
3 changed files with 43 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -1071,6 +1071,23 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
double vel_enu[3];
double pos[3];
pos[0] = rx_position_and_time(0);
pos[1] = rx_position_and_time(1);
pos[2] = rx_position_and_time(2);
ecef2enu( pos, &pvt_sol.rr[3], vel_enu );
arma::vec rx_vel_enu(3);
rx_vel_enu(0) = vel_enu[ 0 ];
rx_vel_enu(1) = vel_enu[ 1 ];
rx_vel_enu(2) = vel_enu[ 2 ];
this->set_rx_vel( rx_vel_enu );
double clock_drift_ppm = pvt_sol.dtr[5] / GPS_C_m_s *1e6;
this->set_clock_drift_ppm( clock_drift_ppm );
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)