Struct GnssChannel¶

Defined in File gnss_measurement.h

Struct Documentation¶

struct GnssChannel¶

Public Functions

Real Wavelength() const¶

Carrier wavelength c / f for this channel’s GNSS frequency.

Used by GnssMeasurement::ComputeValue/Compute to convert between range and Doppler/carrier-phase (cycles), and by GNSSMeasurements to convert the FLL/PLL range-rate and phase noise sigmas into sigma_doppler_hz/sigma_carrier_phase_cycles.

Returns:: Wavelength [m]; throws if frequency is not in GNSS_FREQ_MAP

bool HasEphemeris() const¶: True if this channel carries a transmitter ephemeris (either a fitted Chebyshev model or a sampled state history) usable by GetTransmitState(), as opposed to only the single tx_state snapshot.

Vec6 GetTransmitState(Real t) const¶

Evaluate the transmitter (e.g. GNSS satellite) position/velocity state at epoch t.

Used by GnssMeasurement::ComputeValue/Compute (via ResolveTransmitState) to get the transmitter state at the resolved transmit epoch when re-solving light time from the precomputed channel ephemeris. Falls back to the stored tx_state snapshot if HasEphemeris() is false.

Parameters:: t – Evaluation epoch, in ephemeris_time_scale [s]
Returns:: Transmitter Cartesian state [r; v] [m, m/s] in frame

Real EffectiveTransmitClockBiasSeconds() const¶

Total transmitter clock bias to apply to the pseudorange, combining the raw clock bias, the special-relativistic periodic correction, and the broadcast group delay: tx_clock_bias_s + / relativistic_correction_s - group_delay_s.

    Used by GnssMeasurement::ComputeValue to compute `tx_bias_m = C *

/ EffectiveTransmitClockBiasSeconds()`, the transmitter-side clock term subtracted from the pseudorange/carrier-phase observables.

Returns:: Effective transmitter clock bias [s]

Real EffectiveTransmitClockDrift() const¶

Transmitter clock drift used for the Doppler/range-rate clock term (currently just tx_clock_drift).

Returns:: Effective transmitter clock drift [s/s]

Public Members

GnssConst gnss_const = GnssConst::GPS ¶

int prn = 0¶

GnssFreq frequency = GnssFreq::L1 ¶

Real receive_time = 0.0¶

Time receive_time_scale = Time::TAI ¶

Real transmit_time = 0.0¶

Time transmit_time_scale = Time::TAI ¶

Time ephemeris_time_scale = Time::TAI ¶

Frame frame = Frame::ECI ¶

Vec6 tx_state = Vec6::Zero()¶

VecXd ephemeris_times¶

MatXd ephemeris_tx_states¶

ChebyshevFitModel ephemeris_chebyshev¶

Real tx_clock_bias_s = 0.0¶

Real tx_clock_drift = 0.0¶

Real relativistic_correction_s = 0.0¶

Real group_delay_s = 0.0¶

Real shapiro_delay_m = 0.0¶

Real ionosphere_plasma_delay_m = 0.0¶

Real phase_bias_cycles = 0.0¶

Real integer_ambiguity_cycles = 0.0¶

Real cn0_dbhz = NAN¶

Real sigma_pseudorange_m = NAN¶

Real sigma_doppler_hz = NAN¶

Real sigma_carrier_phase_cycles = NAN¶