Changeset 10947 in ntrip

Timestamp:

Jun 25, 2026, 2:14:56 PM (13 hours ago)

Author:

stuerze

Message:

minor changes

Location:

trunk/BNC

Files:

• CHANGELOG.md (modified) (1 diff)
• src/bncantex.cpp (modified) (3 diffs)
• src/bncantex.h (modified) (1 diff)

trunk/BNC/CHANGELOG.md

@@ -4 +4 @@
 - ADDED: L1C/B (RINEX code: '1E') in QZSS Signal ID Mapping
 - ADDED: Minimum Elevation parameter to BNC's RINEX Editing & QC feature [(#195)](https://software.rtcm-ntrip.org/ticket/195)
-- ADDED: GLONASS-M yaw-fixed attitude model for the APC/CoM offset applied when saving SP3 files, reducing along-track/cross-track errors near the orbit noon/midnight points
+- ADDED: GLONASS-M yaw-fixed attitude model for the APC/CoM offset applied when saving SP3 files, reducing along-track/cross-track errors near the orbit noon/midnight points [(#210)](https://software.rtcm-ntrip.org/ticket/210)
 - FIXED: BNC is now able to work with com ports with higher numbers, e.g. COM11 or COM17  [(#205)](https://software.rtcm-ntrip.org/ticket/205)
 - FIXED: Handling of ionospheric constraints [(#220)](https://software.rtcm-ntrip.org/ticket/220)
-- FIXED: SP3/Clock RINEX clock values produced by the Upload Corrections feature no longer depend on whether 'Center of Mass' is ticked, since that setting should only affect the uploaded SSR Broadcast Correction stream
+- FIXED: SP3/Clock RINEX clock values produced by the Upload Corrections feature no longer depend on whether 'Center of Mass' is ticked, since that setting should only affect the uploaded SSR Broadcast Correction stream [(#210)](https://software.rtcm-ntrip.org/ticket/210)
 
 

trunk/BNC/src/bncantex.cpp

@@ -349 +349 @@
 // independently-known attitude/orbit residuals if high accuracy matters.
 ////////////////////////////////////////////////////////////////////////////
-double bncAntex::glonassYawAngle(const QString& prn, const ColumnVector& xSat,
+double bncAntex::glonassYawAngle(const QString& prn, double Mjd,
+                                  const ColumnVector& xSat,
                                   const ColumnVector& vSat,
                                   const ColumnVector& xSun) {
 
   const double MAX_YAW_RATE = 0.25 * M_PI / 180.0; // [rad/s], approximate
+
+  // A genuine yaw-fixed window (gapless data) only ever lasts a few
+  // minutes around the orbit noon/midnight point - see the width
+  // estimate in the comment above. If the stored frozen value is much
+  // older than that, it is more likely stale (e.g. a stream outage, a
+  // maneuver-flagged-unhealthy period, or a brief eclipse passage spanned
+  // the gap) than a still-valid freeze, so fall back to the current
+  // nominal value instead of trusting it indefinitely.
+  const double MAX_FREEZE_AGE = 1800.0 / 86400.0; // 30 minutes, in days
 
   // Inertial-consistent velocity (xSat, vSat are Earth-fixed; remove the
@@ -398 +408 @@
   double psiEff;
   if (psiRate > MAX_YAW_RATE) {
-    if (!st.valid) {
-      st.yaw = psiNom; // no prior history - best available estimate
+    if (!st.valid || (Mjd - st.lastMjd) > MAX_FREEZE_AGE) {
+      st.yaw     = psiNom; // no prior history, or it is too old to trust
+      st.lastMjd = Mjd;
+      st.valid   = true;
     }
     psiEff = st.yaw;    // hold the frozen yaw angle
   }
   else {
-    st.yaw   = psiNom;
-    st.valid = true;
-    psiEff   = psiNom;
+    st.yaw     = psiNom;
+    st.lastMjd = Mjd;
+    st.valid   = true;
+    psiEff     = psiNom;
   }
 
@@ -466 +479 @@
       // -----------------------------------------------------------------
       if (prn[0] == 'R' && vSat.size() == 3) {
-        double psi = glonassYawAngle(prn, xSat, vSat, xSun);
+        double psi = glonassYawAngle(prn, Mjd, xSat, vSat, xSun);
 
         ColumnVector vInert = vSat;

trunk/BNC/src/bncantex.h

@@ -57 +57 @@
    public:
     t_glonassYaw() {
-      yaw   = 0.0;
-      valid = false;
+      yaw     = 0.0;
+      lastMjd = 0.0;
+      valid   = false;
     }
     double yaw;
+    double lastMjd; // Mjd of the last epoch the nominal law was trusted
     bool   valid;
   };
 
-  double glonassYawAngle(const QString& prn, const ColumnVector& xSat,
+  double glonassYawAngle(const QString& prn, double Mjd, const ColumnVector& xSat,
                           const ColumnVector& vSat, const ColumnVector& xSun);