def sv_clock_correction(satinfo, svid, transmitTime, Trel):
"""space vehicle clock correction"""
toc = satinfo.ephemeris[svid].toc
eph = satinfo.ephemeris[svid]
T = util.correctWeeklyTime(transmitTime - toc)
dTclck = eph.af0 + eph.af1 * T + eph.af2 * T * T + Trel # - eph.Tgd
return dTclck
def sv_clock_correction(satinfo, svid, transmitTime, Trel):
'''space vehicle clock correction'''
from math import sin, sqrt
toc = satinfo.ephemeris[svid].toc
eph = satinfo.ephemeris[svid]
T = util.correctWeeklyTime(transmitTime - toc)
dTclck = eph.af0 + eph.af1 * T + eph.af2 * T * T + Trel # - eph.Tgd
return dTclck
def sv_clock_correction(satinfo, svid, transmitTime, Trel):
'''space vehicle clock correction'''
from math import sin, sqrt
toc = satinfo.ephemeris[svid].toc
eph = satinfo.ephemeris[svid]
T = util.correctWeeklyTime(transmitTime - toc)
dTclck = eph.af0 + eph.af1 * T + eph.af2 * T * T + Trel # - eph.Tgd
return dTclck
def regen_v2_type1():
if ref_pos is None:
return
errset = {}
for svid in prs:
if svid not in eph:
#print("Don't have ephemeris for {}, only {}".format(svid, eph.keys()))
continue
toc = eph[svid].toc
tof = prs[svid] / util.speedOfLight
# assume the time_of_week is the exact receiver time of week that the message arrived.
# subtract the time of flight to get the satellite transmit time
transmitTime = itow - tof
T = util.correctWeeklyTime(transmitTime - toc)
satpos = satPosition.satPosition_raw(eph[svid], svid, transmitTime)
Trel = satpos.extra
satPosition.correctPosition_raw(satpos, tof)
geo = satpos.distance(util.PosVector(*ref_pos))
dTclck = eph[svid].af0 + eph[svid].af1 * T + eph[svid].af2 * T * T + Trel - eph[svid].Tgd
# Incoming PR is already corrected for receiver clock bias
prAdjusted = prs[svid] + dTclck * util.speedOfLight
errset[svid] = geo - prAdjusted
save_satlog(itow, errset)
iode = {}
for svid in eph:
iode[svid] = eph[svid].iode
msg = rtcm.RTCMType1_ext(errset, itow, week, iode)
if len(msg) > 0:
return msg
def regen_v2_type1():
if ref_pos is None:
return
errset = {}
pranges = {}
for svid in prs:
if svid not in eph:
#print("Don't have ephemeris for {}, only {}".format(svid, eph.keys()))
continue
toc = eph[svid].toc
tof = prs[svid] / util.speedOfLight
# assume the time_of_week is the exact receiver time of week that the message arrived.
# subtract the time of flight to get the satellite transmit time
transmitTime = itow - tof
T = util.correctWeeklyTime(transmitTime - toc)
satpos = satPosition.satPosition_raw(eph[svid], svid, transmitTime)
Trel = satpos.extra
satPosition.correctPosition_raw(satpos, tof)
geo = satpos.distance(util.PosVector(*ref_pos))
dTclck = eph[svid].af0 + eph[svid].af1 * T + eph[
svid].af2 * T * T + Trel - eph[svid].Tgd
# Incoming PR is already corrected for receiver clock bias
prAdjusted = prs[svid] + dTclck * util.speedOfLight
errset[svid] = geo - prAdjusted
pranges[svid] = prAdjusted
save_satlog(itow, errset)
if correct_rxclk:
rxerr = positionEstimate.clockLeastSquares_ranges(
eph, pranges, itow, ref_pos, 0)
if rxerr is None:
return
rxerr *= util.speedOfLight
for svid in errset:
errset[svid] += rxerr
pranges[svid] += rxerr
rxerr = positionEstimate.clockLeastSquares_ranges(
eph, pranges, itow, ref_pos, 0) * util.speedOfLight
print("Residual RX clock error {}".format(rxerr))
iode = {}
for svid in eph:
iode[svid] = eph[svid].iode
msg = rtcm.RTCMType1_ext(errset, itow, week, iode)
if len(msg) > 0:
return msg
