Add GNSS receiver pseudorange calculation #730
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fukudakazuya
added
priority::medium
fukudakazuya
requested review from
200km,
ogoogo,
Hiro-0110,
seki-hiro,
suzuki-toshihir0,
t-hosonuma and
conjikidow
and removed request for
a team
200km
reviewed
Jan 5, 2025
fukudakazuya
changed the title
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CIを回し直したら全て通りました． |
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CIこけていた時のエラー文などは何が表示されていましたか？ |
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Run .\Debug\S2E.exe 上のようなエラー文が出ており、具体的なエラー内容がわかりませんでした。 |
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CIこけてた理由はわかりませんが、devマージではないのでとりあえず様子見ということで進めたいと思います。 |
fukudakazuya
added
major update
|
修正しました．レビューよろしくお願いいたします． |
200km
approved these changes
Jan 10, 2025
| @@ -179,6 +186,32 @@ void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, c | |||
| gnss_information_list_.push_back(gnss_info_new); | |||
| } | |||
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| double GnssReceiver::CalcGeometricDistance(const size_t gnss_system_id) { | |||
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[NITS] 返り値が単位を持っているので、関数名の最後に_mをつけてください。(他も同様です)
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Related issues
#600
Description
擬似距離の計算を以下の式に従って追加した．
擬似距離=幾何学的距離+白色ノイズ
また各GPSから得られる擬似距離と，擬似距離と幾何学的距離の差をプロットするコードを追加した．
Test results
gnss_receiver.iniのprescaler は 1とした．
【各GPSから得られる擬似距離の値】
【擬似距離の白色ノイズ標準偏差を0mとしたときの擬似距離と幾何学的距離の差】
差は10^-8m程度である．
【擬似距離の白色ノイズ標準偏差を10mとしたときの擬似距離と幾何学的距離の差】
差は3シグマである30m以内にほぼ収まっている．
Impact
Describe the scope of influence of the changes, e.g.,
The behavior of feature ** changes.Supplementary information
Provide any supplementary information.