Function lupnt::PseudorangeRate(const VecX&, const VecX&, const VecX&, const VecX&, Real, Real)

• Defined in File measurements.cc

Function Documentation

Vec1 lupnt::PseudorangeRate(const VecX &r1, const VecX &r2, const VecX &v1, const VecX &v2, Real d1, Real d2)

Compute a pseudorange-rate: the range-rate biased by the transmitter/receiver clock drifts, in light-time-equivalent velocity.

Generic Doppler/pseudorange-rate measurement model RangeRate(...) + C*(d1-d2), the rate analog of Pseudorange().

Parameters:

• r1 – First position [m], any common frame

• r2 – Second position [m], same frame as r1

• v1 – First velocity [m/s], same frame as r1

• v2 – Second velocity [m/s], same frame as r1

• d1 – Clock drift of point 1 [s/s]

• d2 – Clock drift of point 2 [s/s]

Returns:

Pseudorange rate [m/s] as a length-1 vector