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MOD: Sat instru delay accounted for

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This commit is contained in:
M.A.Gomez 2022-11-12 14:02:44 +00:00
parent d0e215d3dd
commit 9c7c5c9acf
2 changed files with 6 additions and 5 deletions
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4
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1121,7 +1121,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
//To.Do: check it VTL uses all the information as in rtklib rescode function: v[nv] = P - (r + dtr - SPEED_OF_LIGHT_M_S * dts[i * 2] + dion + dtrp);
//corrected pr with code bias, iono and tropo. Still needs the dtr(rx clock bias) and satellite clock bias (dts)
//cout<<"dtr "<<rx_position_and_time[3]*SPEED_OF_LIGHT_M_S<<"m";
new_vtl_data.pr_m(n) = pr_corrected_code_bias_vec[n] - tropo_vec[n] - iono_vec[n];//+SPEED_OF_LIGHT_M_S * dts[n * 2];
new_vtl_data.pr_m(n) = pr_corrected_code_bias_vec[n] - tropo_vec[n] - iono_vec[n]+SPEED_OF_LIGHT_M_S * dts[n * 2];
new_vtl_data.doppler_hz(n) = d_obs_data.at(n).D[0];
new_vtl_data.carrier_phase_rads(n) = d_obs_data.at(n).L[0];
}
@ -1149,7 +1149,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
new_vtl_data.rx_dts(1) = pvt_sol.dtr[5] / 1e6; // [ppm] to [s]
//Call the VTL engine loop: miguel: Should we wait until valid PVT solution?
new_vtl_data.debug_print();
//new_vtl_data.debug_print();
vtl_engine.vtl_loop(new_vtl_data);
//new_vtl_data.debug_print();

7
src/algorithms/PVT/libs/vtl_engine.cc
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@ -74,7 +74,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
}
// Kalman state prediction (time update)
kf_x.print(" KF RTKlib STATE");
//kf_x.print(" KF RTKlib STATE");
new_data.kf_state=kf_x;
kf_x = kf_F * kf_x; // state prediction
kf_P_x= kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction
@ -164,8 +164,9 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
kf_x(6) =kf_x(6) /SPEED_OF_LIGHT_M_S;
kf_x(7) =kf_x(7) /SPEED_OF_LIGHT_M_S;
new_data.kf_state.print(" KF RTKlib STATE");
cout << " KF posteriori STATE diference" << kf_x-new_data.kf_state;
cout << " KF posteriori STATE diference %" << (kf_x-new_data.kf_state)/new_data.kf_state*100;
// // ################## Geometric Transformation ######################################
@ -208,7 +209,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
trk_cmd.enable_code_nco_cmd = true;
trk_cmd.sample_counter = new_data.sample_counter;
trk_cmd_outs.push_back(trk_cmd);
//new_data.debug_print();
new_data.debug_print();
return true;
}