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Fix computation of fine phase range in RTCM messages

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This commit is contained in:
Carles Fernandez 2016-05-04 15:35:35 +02:00
parent 2494a3dc0f
commit d1cc8d3053
1 changed files with 24 additions and 1 deletions
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25
src/core/system_parameters/rtcm.cc
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@ -3853,7 +3853,11 @@ int Rtcm::set_DF400(const Gnss_Synchro & gnss_synchro)
psrng_s = gnss_synchro.Pseudorange_m - rough_range_m;
if(std::fabs(psrng_s) > 292.7)
if (psrng_s == 0)
{
fine_pseudorange = -16384;
}
else if(std::fabs(psrng_s) > 292.7)
{
fine_pseudorange = -16384; // 4000h: invalid value
}
@ -3901,6 +3905,15 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
/* Substract phase - pseudorange integer cycle offset */
/* TODO: check LLI! */
double cp = gnss_synchro.Carrier_phase_rads / GPS_TWO_PI; // ?
if(std::fabs(phrng_m - cp) > 1171.0)
{
cp = std::round(phrng_m / lambda) * lambda;
}
phrng_m -= cp;
if(phrng_m == 0.0)
{
fine_phaserange = - 2097152;
@ -4059,6 +4072,16 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
}
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
/* Substract phase - pseudorange integer cycle offset */
/* TODO: check LLI! */
double cp = gnss_synchro.Carrier_phase_rads / GPS_TWO_PI; // ?
if(std::fabs(phrng_m - cp) > 1171.0)
{
cp = std::round(phrng_m / lambda) * lambda;
}
phrng_m -= cp;
if(phrng_m == 0.0)
{
fine_phaserange_ex = - 8388608;