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Add Glonass and BeiDou time correction

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Carles Fernandez 2019-06-24 21:46:35 +02:00
parent a4676a53e4
commit 539c7e977d
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 3 additions and 6 deletions
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9
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -961,22 +961,19 @@ 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]
// 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[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3];
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]
// 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[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3]) / GPS_C_M_S;
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
//compute Ground speed and COG // compute Ground speed and COG
double ground_speed_ms = 0.0; double ground_speed_ms = 0.0;
double pos[3]; double pos[3];
double enuv[3]; double enuv[3];