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Code Issues Releases Wiki Activity

Update references to new GPS ICDs

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This commit is contained in:
Carles Fernandez
2021-01-12 10:34:55 +01:00
parent 8b918b4f87
commit ddc5bcff01
29 changed files with 99 additions and 99 deletions
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2
src/algorithms/libs/geofunctions.cc
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@@ -20,7 +20,7 @@
#include <array>
#include <cmath> // for sin, cos, sqrt, abs, pow
const double STRP_PI = 3.1415926535898; // Pi as defined in IS-GPS-200K
const double STRP_PI = 3.1415926535898; // Pi as defined in IS-GPS-200L
arma::mat Skew_symmetric(const arma::vec &a)
{

4
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -354,13 +354,13 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200K, pp. 170
const double A_REF = 26559710.0; // See IS-GPS-200L, pp. 161
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
rtklib_sat.M0 = gps_cnav_eph.d_M_0;
rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200K pp. 164
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200L pp. 160
double d_OMEGA_DOT = OMEGA_DOT_REF * GNSS_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd = d_OMEGA_DOT;
rtklib_sat.omg = gps_cnav_eph.d_OMEGA;

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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@@ -1727,7 +1727,7 @@ double timediff(gtime_t t1, gtime_t t2)
*-----------------------------------------------------------------------------*/
double timediffweekcrossover(gtime_t t1, gtime_t t2)
{
// as stated in IS-GPS-200K table 20-IV footnote among other parts of the ICD,
// as stated in IS-GPS-200L table 20-IV footnote among other parts of the ICD,
// if tk=(t - toe) > 302400s then tk = tk - s
// if tk=(t - toe) < -302400s then tk = tk + 604800s
double tk = difftime(t1.time, t2.time) + t1.sec - t2.sec;

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
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@@ -29,7 +29,7 @@
*
*
* References :
* [1] IS-GPS-200K, Navstar GPS Space Segment/Navigation User Interfaces,
* [1] IS-GPS-200L, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,