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Fix RX time correction in Galileo-only or in mix GPS and Galileo configurations

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This commit is contained in:
Javier Arribas
2019-06-12 16:29:12 +02:00
parent c9822a435c
commit e3be903b3c
1 changed files with 6 additions and 3 deletions
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9
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -961,15 +961,18 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
//todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE)
{
rx_position_and_time(3) = pvt_sol.dtr[0]; // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
}
else
{
rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_M_S; // the receiver clock offset is expressed in [meters], so we convert it into [s]
// the receiver clock offset is expressed in [meters], so we convert it into [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / GPS_C_M_S;
}
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration