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Merge pull request #59 from AndreHauschild/devel
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Enable processing without receiver antenna corrections
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hirokawa authored Oct 22, 2024
2 parents e0a4bd2 + 6cc5ef8 commit cb14d3d
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Showing 2 changed files with 11 additions and 6 deletions.
2 changes: 1 addition & 1 deletion src/cssrlib/ppp.py
Original file line number Diff line number Diff line change
Expand Up @@ -210,7 +210,7 @@ def eci2ecef(tgps, erpv):
dpsi, deps = nut_iau1980(t_, f)
N = Rx(-eps-deps)@Rz(-dpsi)@Rx(eps)

# Greenwich aparent sidereal time [rad]
# Greenwich apparent sidereal time [rad]
gmst = utc2gmst(tutc, erpv[2])
gast = gmst+dpsi*cos(eps)
gast += (0.00264*sin(f[4])+0.000063*sin(2.0*f[4]))*gn.rCST.AS2R
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15 changes: 10 additions & 5 deletions src/cssrlib/pppssr.py
Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ def initx(self, x0, v0, i):
self.nav.P[j, i] = self.nav.P[i, j] = v0 if i == j else 0

def IB(self, s, f, na=3):
""" return index of phase ambguity """
""" return index of phase ambiguity """
idx = na+uGNSS.MAXSAT*f+s-1
return idx

Expand Down Expand Up @@ -335,7 +335,7 @@ def udstate(self, obs):

if sys[i] == uGNSS.GLO:
if sat[i] not in self.nav.glo_ch:
print("glonass channed not found: {:d}"
print("glonass channel not found: {:d}"
.format(sat[i]))
continue
f1 = sig1.frequency(self.nav.glo_ch[sat[i]])
Expand Down Expand Up @@ -659,8 +659,12 @@ def zdres(self, obs, cs, bsx, rs, vs, dts, rr, rtype=1):

# Receiver/satellite antenna offset
#
antrPR = antModelRx(self.nav, pos, e[i, :], sigsPR, rtype)
antrCP = antModelRx(self.nav, pos, e[i, :], sigsCP, rtype)
if self.nav.rcv_ant is None:
antrPR = [0.0 for _ in sigsPR]
antrCP = [0.0 for _ in sigsCP]
else:
antrPR = antModelRx(self.nav, pos, e[i, :], sigsPR, rtype)
antrCP = antModelRx(self.nav, pos, e[i, :], sigsCP, rtype)

if self.nav.ephopt == 4:

Expand Down Expand Up @@ -858,6 +862,7 @@ def sdres(self, obs, x, y, e, sat, el):
self.IT(self.nav.na)])))

if self.nav.niono > 0: # iono is estimated

# SD ionosphere
#
idx_i = self.II(sat[i], self.nav.na)
Expand Down Expand Up @@ -930,7 +935,7 @@ def sdres(self, obs, x, y, e, sat, el):
nb[b] += 1 # counter for single-differences per signal
nv += 1 # counter for single-difference observations

b += 1 # counter for signal (pseudrange+carrier-phase)
b += 1 # counter for signal (pseudorange+carrier-phase)

v = np.resize(v, nv)
H = np.resize(H, (nv, self.nav.nx))
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