[hamradio-commits] [gnss-sdr] 22/80: Fix computation of fine phase range in RTCM messages
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sun May 15 20:11:53 UTC 2016
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carles_fernandez-guest pushed a commit to branch upstream
in repository gnss-sdr.
commit d1cc8d305394e5d44be443944952081b18f59cb7
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Wed May 4 15:35:35 2016 +0200
Fix computation of fine phase range in RTCM messages
---
src/core/system_parameters/rtcm.cc | 25 ++++++++++++++++++++++++-
1 file changed, 24 insertions(+), 1 deletion(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index b4857fa..4a07a3a 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -3853,7 +3853,11 @@ int Rtcm::set_DF400(const Gnss_Synchro & gnss_synchro)
psrng_s = gnss_synchro.Pseudorange_m - rough_range_m;
- if(std::fabs(psrng_s) > 292.7)
+ if (psrng_s == 0)
+ {
+ fine_pseudorange = -16384;
+ }
+ else if(std::fabs(psrng_s) > 292.7)
{
fine_pseudorange = -16384; // 4000h: invalid value
}
@@ -3901,6 +3905,15 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
+ /* Substract phase - pseudorange integer cycle offset */
+ /* TODO: check LLI! */
+ double cp = gnss_synchro.Carrier_phase_rads / GPS_TWO_PI; // ?
+ if(std::fabs(phrng_m - cp) > 1171.0)
+ {
+ cp = std::round(phrng_m / lambda) * lambda;
+ }
+ phrng_m -= cp;
+
if(phrng_m == 0.0)
{
fine_phaserange = - 2097152;
@@ -4059,6 +4072,16 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
}
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
+
+ /* Substract phase - pseudorange integer cycle offset */
+ /* TODO: check LLI! */
+ double cp = gnss_synchro.Carrier_phase_rads / GPS_TWO_PI; // ?
+ if(std::fabs(phrng_m - cp) > 1171.0)
+ {
+ cp = std::round(phrng_m / lambda) * lambda;
+ }
+ phrng_m -= cp;
+
if(phrng_m == 0.0)
{
fine_phaserange_ex = - 8388608;
--
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