diff --git a/include/gnss_utils/TDCP.h b/include/gnss_utils/TDCP.h index 7d246dfff04d229c51197da64d2fbd08c4193fa6..3580569f867b31bee90ae83d67d012a16f0b1233 100644 --- a/include/gnss_utils/TDCP.h +++ b/include/gnss_utils/TDCP.h @@ -24,6 +24,7 @@ namespace GNSSUtils double raim_min_residual; bool use_carrier_phase; bool correct_tropo; + bool correct_iono; bool relinearize_jacobian; int max_iterations; double sigma_atm; @@ -31,6 +32,7 @@ namespace GNSSUtils double sigma_carrier; bool use_old_nav; bool use_multi_freq; + double time_window; }; bool TDCP(const Observations& obs_r, Navigation& nav_r, diff --git a/src/TDCP.cpp b/src/TDCP.cpp index 2b7dea3de276cd21e0484c15582d6acff0f10a85..033e4925f159d66f96edff9d197f1b946f4cfd2e 100644 --- a/src/TDCP.cpp +++ b/src/TDCP.cpp @@ -199,7 +199,7 @@ bool TDCP(const Observations& common_obs_r, const Navigation& nav_r, const std:: if(!sd_params.relinearize_jacobian) { - // Unit vectors from recerivers to satellites + // Unit vectors from receivers to satellites Eigen::Vector3d u_k = (s_k.col(row) - x_r - d.head(3)).normalized(); // Fill Jacobian matrix