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Commit fe4765c9 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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added params in TDCP

parent 9da6d63f
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include/gnss_utils/TDCP.h
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...@@ -24,6 +24,7 @@ namespace GNSSUtils ...@@ -24,6 +24,7 @@ namespace GNSSUtils
double raim_min_residual; double raim_min_residual;
bool use_carrier_phase; bool use_carrier_phase;
bool correct_tropo; bool correct_tropo;
bool correct_iono;
bool relinearize_jacobian; bool relinearize_jacobian;
int max_iterations; int max_iterations;
double sigma_atm; double sigma_atm;
...@@ -31,6 +32,7 @@ namespace GNSSUtils ...@@ -31,6 +32,7 @@ namespace GNSSUtils
double sigma_carrier; double sigma_carrier;
bool use_old_nav; bool use_old_nav;
bool use_multi_freq; bool use_multi_freq;
double time_window;
}; };
bool TDCP(const Observations& obs_r, Navigation& nav_r, bool TDCP(const Observations& obs_r, Navigation& nav_r,
......
src/TDCP.cpp
+ 1
− 1
View file @ fe4765c9
...@@ -199,7 +199,7 @@ bool TDCP(const Observations& common_obs_r, const Navigation& nav_r, const std:: ...@@ -199,7 +199,7 @@ bool TDCP(const Observations& common_obs_r, const Navigation& nav_r, const std::
if(!sd_params.relinearize_jacobian) 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(); Eigen::Vector3d u_k = (s_k.col(row) - x_r - d.head(3)).normalized();
// Fill Jacobian matrix // Fill Jacobian matrix
......
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