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Applying broadcast Group Delay (TGD) to correct GPS L1 CA observables to improve positioning accuracy

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This commit is contained in:
Javier Arribas 2017-04-12 16:55:34 +02:00
parent 1ed4b506df
commit d76e8efe18
2 changed files with 18 additions and 3 deletions
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11
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -32,7 +32,8 @@
#include "gps_l1_ca_ls_pvt.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
using google::LogMessage;
@ -129,8 +130,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma);
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;

10
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -32,6 +32,8 @@
#include "hybrid_ls_pvt.h"
#include <glog/logging.h>
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
using google::LogMessage;
@ -192,8 +194,14 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma);
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;