mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-15 04:30:33 +00:00
Code Issues Releases Wiki Activity

Revert "Add Glonass and BeiDou time correction"

Browse Source 
This reverts commit 539c7e977d.
This commit is contained in:
Carles Fernandez 2019-06-25 13:13:28 +02:00
parent 15c741f7e8
commit 4ce829012e
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -961,15 +961,18 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time(0) = pvt_sol.rr[0]; // [m] rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
rx_position_and_time(1) = pvt_sol.rr[1]; // [m] rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
rx_position_and_time(2) = pvt_sol.rr[2]; // [m] rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
//todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE) if (rtk_.opt.mode == PMODE_SINGLE)
{ {
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s] // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3]; // add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
} }
else else
{ {
// the receiver clock offset is expressed in [meters], so we convert it into [s] // the receiver clock offset is expressed in [meters], so we convert it into [s]
rx_position_and_time(3) = (pvt_sol.dtr[0] + pvt_sol.dtr[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3]) / GPS_C_M_S; // add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / GPS_C_M_S;
} }
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration