diff --git a/include/gnss/factor/factor_gnss_pseudo_range.h b/include/gnss/factor/factor_gnss_pseudo_range.h
index ca6008e8f8cca136aa6ed9cb98e806075d325452..9dbf1419409e3d6a3b71bb69ac6798420d16883d 100644
--- a/include/gnss/factor/factor_gnss_pseudo_range.h
+++ b/include/gnss/factor/factor_gnss_pseudo_range.h
@@ -42,10 +42,10 @@ class FactorGnssPseudoRange : public FactorAutodiff<FactorGnssPseudoRange, 1, 3,
_ftr_ptr->getFrame()->getO(),
_ftr_ptr->getCapture()->getStateBlock("T"),
(_ftr_ptr->getSatellite().sys == SYS_GLO ?
- _ftr_ptr->getCapture()->getStateBlock("TG") :
+ _ftr_ptr->getCapture()->getStateBlock("G") :
(_ftr_ptr->getSatellite().sys == SYS_GAL ?
- _ftr_ptr->getCapture()->getStateBlock("TE") :
- _ftr_ptr->getCapture()->getStateBlock("TC"))),//in case GPS, TC is set but anyway not used
+ _ftr_ptr->getCapture()->getStateBlock("E") :
+ _ftr_ptr->getCapture()->getStateBlock("M"))),//in case GPS, M is set but anyway not used
_sensor_gnss_ptr->getP(),
_sensor_gnss_ptr->getEnuMapTranslation(),
_sensor_gnss_ptr->getEnuMapRoll(),
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index b4452e99c21e12c5841653876a56804e2d1ae8dc..518aef0eb7c32f3867472f651d4dbe44402100a3 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -194,29 +194,29 @@ void ProcessorTrackerGnss::establishFactors()
if (last_ptr_->getStateBlock("T") == nullptr)
{
last_ptr_->addStateBlock("T", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(0)), false), getProblem());
- last_ptr_->addStateBlock("TG", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(1)), true), getProblem());
- last_ptr_->addStateBlock("TE", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(2)), true), getProblem());
- last_ptr_->addStateBlock("TC", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(3)), true), getProblem());
+ last_ptr_->addStateBlock("G", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(1)), true), getProblem());
+ last_ptr_->addStateBlock("E", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(2)), true), getProblem());
+ last_ptr_->addStateBlock("M", std::make_shared<StateBlock>(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(3)), true), getProblem());
//WOLF_INFO("last clock bias set: ", last_ptr_->getStateBlock("T")->getState());
}
// Initialize clock bias stateblocks in capture
else if (!last_clock_bias_init)
{
last_ptr_->getStateBlock("T") ->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(0)));
- last_ptr_->getStateBlock("TG")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(1)));
- last_ptr_->getStateBlock("TE")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(2)));
- last_ptr_->getStateBlock("TC")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(3)));
+ last_ptr_->getStateBlock("G")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(1)));
+ last_ptr_->getStateBlock("E")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(2)));
+ last_ptr_->getStateBlock("M")->setState(Eigen::Vector1d(CLIGHT*fix_last_.rcv_bias(3)));
//WOLF_INFO("last clock bias initialized: ", last_ptr_->getStateBlock("T")->getState());
last_clock_bias_init = true;
}
// unfix clock bias inter-constellation
if (ftr_sat->getSatellite().sys == SYS_GLO)
- last_ptr_->getStateBlock("TG")->unfix();
+ last_ptr_->getStateBlock("G")->unfix();
if (ftr_sat->getSatellite().sys == SYS_GAL)
- last_ptr_->getStateBlock("TE")->unfix();
+ last_ptr_->getStateBlock("E")->unfix();
if (ftr_sat->getSatellite().sys == SYS_CMP)
- last_ptr_->getStateBlock("TC")->unfix();
+ last_ptr_->getStateBlock("M")->unfix();
// Emplace a pseudo range factor
auto new_fac = FactorBase::emplace<FactorGnssPseudoRange>(ftr_sat,
@@ -373,9 +373,9 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
//std::cout << "frame p: " << cap->getFrame()->getP()->getState().transpose() << std::endl;
//std::cout << "frame o: " << cap->getFrame()->getO()->getState().transpose() << std::endl;
//std::cout << "sb clock: " << cap->getStateBlock("T")->getState() << std::endl;
- //std::cout << "sb clock glo: " << cap->getStateBlock("TG")->getState() << std::endl;
- //std::cout << "sb clock gal: " << cap->getStateBlock("TE")->getState() << std::endl;
- //std::cout << "sb clock cmp: " << cap->getStateBlock("TC")->getState() << std::endl;
+ //std::cout << "sb clock glo: " << cap->getStateBlock("G")->getState() << std::endl;
+ //std::cout << "sb clock gal: " << cap->getStateBlock("E")->getState() << std::endl;
+ //std::cout << "sb clock cmp: " << cap->getStateBlock("M")->getState() << std::endl;
//std::cout << "sb antena: " << sensor_gnss_->getP()->getState().transpose() << std::endl;
}
else
@@ -383,9 +383,9 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
x = cap->getFrame()->getP()->getState();
o = cap->getFrame()->getO()->getState();
clock_bias = cap->getStateBlock("T")->getState();
- clock_bias_glo = cap->getStateBlock("TG")->getState();
- clock_bias_gal = cap->getStateBlock("TE")->getState();
- clock_bias_cmp = cap->getStateBlock("TC")->getState();
+ clock_bias_glo = cap->getStateBlock("G")->getState();
+ clock_bias_gal = cap->getStateBlock("E")->getState();
+ clock_bias_cmp = cap->getStateBlock("M")->getState();
x_antena_pr = sensor_gnss_->getP()->getState();
}