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https://github.com/gnss-sdr/gnss-sdr
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Fix computation of time in the hybrid Galileo/GPS solution
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@ -69,8 +69,6 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
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}
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hybrid_ls_pvt::~hybrid_ls_pvt()
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{
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d_dump_file.close();
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@ -79,10 +77,6 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
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}
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bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double hybrid_current_time, bool flag_averaging)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
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@ -115,10 +109,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
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gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
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gnss_pseudoranges_iter++)
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{
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if(gnss_pseudoranges_iter->second.System == 'E')
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{
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//std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl;
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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@ -241,6 +233,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
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mypos = leastSquarePos(satpos, obs, W);
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d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
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double secondsperweek = 604800.0;
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// Compute GST and Gregorian time
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if( GST != 0.0)
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{
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@ -248,14 +241,15 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
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}
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else
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{
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utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
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utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
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}
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// get time string Gregorian calendar
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double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
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// 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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d_position_UTC_time = p_time;
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DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
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cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
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