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Fix computation of sat positions with GPS Almanac

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This commit is contained in:
Carles Fernandez
2018-11-22 17:07:01 +01:00
parent 4bdb8c3bc4
commit f3e32e30e9
1 changed files with 7 additions and 4 deletions
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11
src/core/receiver/control_thread.cc
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@@ -734,7 +734,9 @@ void ControlThread::init()
else
{
// fill agnss_ref_time_
agnss_ref_time_.d_tv_sec = 0; // fill
struct tm tm;
strptime(ref_time_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm);
agnss_ref_time_.d_tv_sec = timegm(&tm);
agnss_ref_time_.valid = true;
}
}
@@ -861,7 +863,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
strftime(buf, sizeof(buf), "%d/%m/%Y %H:%M:%S ", &tstruct);
std::string str_time = std::string(buf);
std::cout << "Get visible satellites at " << str_time
<< " UTC, assuming RX position " << LLH(0) << " [deg], " << LLH(1) << " [deg], " << LLH(2) << " [m]" << std::endl;
<< "UTC, assuming RX position " << LLH(0) << " [deg], " << LLH(1) << " [deg], " << LLH(2) << " [m]" << std::endl;
std::map<int, Gps_Ephemeris> gps_eph_map = pvt_ptr->get_gps_ephemeris();
for (std::map<int, Gps_Ephemeris>::iterator it = gps_eph_map.begin(); it != gps_eph_map.end(); ++it)
@@ -915,8 +917,9 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
alm_t rtklib_alm = alm_to_rtklib(it->second);
double r_sat[3];
double clock_bias_s;
gps_gtime.time = fmod(utc2gpst(gps_gtime).time, 604800);
alm2pos(gps_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
gtime_t aux_gtime;
aux_gtime.time = fmod(utc2gpst(gps_gtime).time + 345600, 604800);
alm2pos(aux_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
double Az, El, dist_m;
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;