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Fix Galileo sats position computation from Almanac data

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This commit is contained in:
Carles Fernandez
2018-11-22 11:59:49 +01:00
parent b0ba246934
commit a59ffca8a1
2 changed files with 14 additions and 10 deletions
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20
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -314,32 +314,34 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
rtklib_alm.f1 = gps_alm.d_A_f1; rtklib_alm.f1 = gps_alm.d_A_f1;
rtklib_alm.toas = gps_alm.i_Toa; rtklib_alm.toas = gps_alm.i_Toa;
return rtklib_alm; return rtklib_alm;
} }
alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm) alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
{ {
alm_t rtklib_alm; alm_t rtklib_alm;
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gal_alm.i_satellite_PRN; rtklib_alm.sat = gal_alm.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_alm.svh = gal_alm.E1B_HS; rtklib_alm.svh = gal_alm.E1B_HS;
rtklib_alm.svconf = gal_alm.E1B_HS; rtklib_alm.svconf = gal_alm.E1B_HS;
rtklib_alm.week = gal_alm.i_WNa; rtklib_alm.week = gal_alm.i_WNa;
rtklib_alm.toa = gpst2time(gal_alm.i_WNa, gal_alm.i_Toa); gtime_t toa;
toa.time = gal_alm.i_Toa;
rtklib_alm.toa = toa;
rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A; rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
rtklib_alm.A = rtklib_alm.A * rtklib_alm.A; rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
rtklib_alm.e = gal_alm.d_e_eccentricity; rtklib_alm.e = gal_alm.d_e_eccentricity;
rtklib_alm.i0 = gal_alm.d_Delta_i + 0.31111; rtklib_alm.i0 = (gal_alm.d_Delta_i + 56.0 / 180.0) * PI;
rtklib_alm.OMG0 = gal_alm.d_OMEGA0; rtklib_alm.OMG0 = gal_alm.d_OMEGA0 * PI;
rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT; rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT * PI;
rtklib_alm.omg = gal_alm.d_OMEGA; rtklib_alm.omg = gal_alm.d_OMEGA * PI;
rtklib_alm.M0 = gal_alm.d_M_0; rtklib_alm.M0 = gal_alm.d_M_0 * PI;
rtklib_alm.f0 = gal_alm.d_A_f0; rtklib_alm.f0 = gal_alm.d_A_f0;
rtklib_alm.f1 = gal_alm.d_A_f1; rtklib_alm.f1 = gal_alm.d_A_f1;
rtklib_alm.toas = gal_alm.i_Toa; rtklib_alm.toas = gal_alm.i_Toa;
return rtklib_alm; return rtklib_alm;
} }

4
src/core/receiver/control_thread.cc
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@@ -931,7 +931,9 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
alm_t rtklib_alm = alm_to_rtklib(it->second); alm_t rtklib_alm = alm_to_rtklib(it->second);
double r_sat[3]; double r_sat[3];
double clock_bias_s; double clock_bias_s;
alm2pos(gps_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s); gtime_t gal_gtime;
gal_gtime.time = fmod(utc2gpst(gps_gtime).time + 345600, 604800);
alm2pos(gal_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
double Az, El, dist_m; double Az, El, dist_m;
arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]}; arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
arma::vec dx = r_sat_eb_e - r_eb_e; arma::vec dx = r_sat_eb_e - r_eb_e;