[7235] | 1 | // Part of BNC, a utility for retrieving decoding and
|
---|
| 2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
| 3 | //
|
---|
| 4 | // Copyright (C) 2007
|
---|
| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
| 6 | // http://www.bkg.bund.de
|
---|
| 7 | // Czech Technical University Prague, Department of Geodesy
|
---|
| 8 | // http://www.fsv.cvut.cz
|
---|
| 9 | //
|
---|
| 10 | // Email: euref-ip@bkg.bund.de
|
---|
| 11 | //
|
---|
| 12 | // This program is free software; you can redistribute it and/or
|
---|
| 13 | // modify it under the terms of the GNU General Public License
|
---|
| 14 | // as published by the Free Software Foundation, version 2.
|
---|
| 15 | //
|
---|
| 16 | // This program is distributed in the hope that it will be useful,
|
---|
| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
| 19 | // GNU General Public License for more details.
|
---|
| 20 | //
|
---|
| 21 | // You should have received a copy of the GNU General Public License
|
---|
| 22 | // along with this program; if not, write to the Free Software
|
---|
| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
| 24 |
|
---|
| 25 | /* -------------------------------------------------------------------------
|
---|
| 26 | * BKG NTRIP Client
|
---|
| 27 | * -------------------------------------------------------------------------
|
---|
| 28 | *
|
---|
| 29 | * Class: t_pppClient
|
---|
| 30 | *
|
---|
| 31 | * Purpose: Precise Point Positioning
|
---|
| 32 | *
|
---|
| 33 | * Author: L. Mervart
|
---|
| 34 | *
|
---|
| 35 | * Created: 21-Nov-2009
|
---|
| 36 | *
|
---|
[7288] | 37 | * Changes:
|
---|
[7235] | 38 | *
|
---|
| 39 | * -----------------------------------------------------------------------*/
|
---|
| 40 |
|
---|
| 41 | #include <newmatio.h>
|
---|
| 42 | #include <iomanip>
|
---|
| 43 | #include <sstream>
|
---|
| 44 |
|
---|
| 45 | #include "pppClient.h"
|
---|
| 46 | #include "pppUtils.h"
|
---|
| 47 | #include "bncephuser.h"
|
---|
| 48 | #include "bncutils.h"
|
---|
| 49 |
|
---|
| 50 | using namespace BNC_PPP;
|
---|
| 51 | using namespace std;
|
---|
| 52 |
|
---|
| 53 | // Constructor
|
---|
| 54 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 55 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
|
---|
| 56 | _opt = new t_pppOptions(*opt);
|
---|
| 57 | _filter = new t_pppFilter(this);
|
---|
| 58 | _epoData = new t_epoData();
|
---|
| 59 | _log = new ostringstream();
|
---|
| 60 | _ephUser = new bncEphUser(false);
|
---|
| 61 | _pppUtils = new t_pppUtils();
|
---|
| 62 | }
|
---|
| 63 |
|
---|
| 64 | // Destructor
|
---|
| 65 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 66 | t_pppClient::~t_pppClient() {
|
---|
| 67 | delete _filter;
|
---|
| 68 | delete _epoData;
|
---|
| 69 | delete _opt;
|
---|
| 70 | delete _ephUser;
|
---|
| 71 | delete _log;
|
---|
| 72 | delete _pppUtils;
|
---|
| 73 | }
|
---|
| 74 |
|
---|
| 75 | //
|
---|
| 76 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 77 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
[7288] | 78 |
|
---|
[7235] | 79 | // Convert and store observations
|
---|
| 80 | // ------------------------------
|
---|
| 81 | _epoData->clear();
|
---|
| 82 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
|
---|
[7288] | 83 | const t_satObs* obs = satObs[ii];
|
---|
[7235] | 84 | t_prn prn = obs->_prn;
|
---|
| 85 | if (prn.system() == 'E') {prn.setFlags(1);} // force I/NAV usage
|
---|
| 86 | t_satData* satData = new t_satData();
|
---|
| 87 |
|
---|
| 88 | if (_epoData->tt.undef()) {
|
---|
| 89 | _epoData->tt = obs->_time;
|
---|
| 90 | }
|
---|
| 91 |
|
---|
| 92 | satData->tt = obs->_time;
|
---|
| 93 | satData->prn = QString(prn.toInternalString().c_str());
|
---|
| 94 | satData->slipFlag = false;
|
---|
| 95 | satData->P1 = 0.0;
|
---|
| 96 | satData->P2 = 0.0;
|
---|
| 97 | satData->P5 = 0.0;
|
---|
| 98 | satData->P7 = 0.0;
|
---|
| 99 | satData->L1 = 0.0;
|
---|
| 100 | satData->L2 = 0.0;
|
---|
| 101 | satData->L5 = 0.0;
|
---|
| 102 | satData->L7 = 0.0;
|
---|
| 103 | for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) {
|
---|
| 104 | t_frqObs* frqObs = obs->_obs[ifrq];
|
---|
| 105 | double cb = 0.0;
|
---|
| 106 | const t_satCodeBias* satCB = _pppUtils->satCodeBias(prn);
|
---|
| 107 | if (satCB && satCB->_bias.size()) {
|
---|
| 108 | for (unsigned ii = 0; ii < satCB->_bias.size(); ii++) {
|
---|
| 109 |
|
---|
| 110 | const t_frqCodeBias& bias = satCB->_bias[ii];
|
---|
| 111 | if (frqObs && frqObs->_rnxType2ch == bias._rnxType2ch) {
|
---|
| 112 | cb = bias._value;
|
---|
| 113 | }
|
---|
| 114 | }
|
---|
| 115 | }
|
---|
| 116 | if (frqObs->_rnxType2ch[0] == '1') {
|
---|
| 117 | if (frqObs->_codeValid) satData->P1 = frqObs->_code + cb;
|
---|
| 118 | if (frqObs->_phaseValid) satData->L1 = frqObs->_phase;
|
---|
| 119 | if (frqObs->_slip) satData->slipFlag = true;
|
---|
| 120 | }
|
---|
| 121 | else if (frqObs->_rnxType2ch[0] == '2') {
|
---|
| 122 | if (frqObs->_codeValid) satData->P2 = frqObs->_code + cb;
|
---|
| 123 | if (frqObs->_phaseValid) satData->L2 = frqObs->_phase;
|
---|
| 124 | if (frqObs->_slip) satData->slipFlag = true;
|
---|
| 125 | }
|
---|
| 126 | else if (frqObs->_rnxType2ch[0] == '5') {
|
---|
| 127 | if (frqObs->_codeValid) satData->P5 = frqObs->_code + cb;
|
---|
| 128 | if (frqObs->_phaseValid) satData->L5 = frqObs->_phase;
|
---|
| 129 | if (frqObs->_slip) satData->slipFlag = true;
|
---|
| 130 | }
|
---|
| 131 | else if (frqObs->_rnxType2ch[0] == '7') {
|
---|
| 132 | if (frqObs->_codeValid) satData->P7 = frqObs->_code + cb;
|
---|
| 133 | if (frqObs->_phaseValid) satData->L7 = frqObs->_phase;
|
---|
| 134 | if (frqObs->_slip) satData->slipFlag = true;
|
---|
| 135 | }
|
---|
| 136 | }
|
---|
| 137 | putNewObs(satData);
|
---|
| 138 | }
|
---|
| 139 |
|
---|
| 140 | // Data Pre-Processing
|
---|
| 141 | // -------------------
|
---|
| 142 | QMutableMapIterator<QString, t_satData*> it(_epoData->satData);
|
---|
| 143 | while (it.hasNext()) {
|
---|
| 144 | it.next();
|
---|
| 145 | QString prn = it.key();
|
---|
| 146 | t_satData* satData = it.value();
|
---|
[7288] | 147 |
|
---|
[7235] | 148 | if (cmpToT(satData) != success) {
|
---|
| 149 | delete satData;
|
---|
| 150 | it.remove();
|
---|
| 151 | continue;
|
---|
| 152 | }
|
---|
| 153 |
|
---|
| 154 | }
|
---|
| 155 |
|
---|
| 156 | // Filter Solution
|
---|
| 157 | // ---------------
|
---|
| 158 | if (_filter->update(_epoData) == success) {
|
---|
| 159 | output->_error = false;
|
---|
| 160 | output->_epoTime = _filter->time();
|
---|
| 161 | output->_xyzRover[0] = _filter->x();
|
---|
| 162 | output->_xyzRover[1] = _filter->y();
|
---|
| 163 | output->_xyzRover[2] = _filter->z();
|
---|
| 164 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], output->_covMatrix);
|
---|
| 165 | output->_neu[0] = _filter->neu()[0];
|
---|
| 166 | output->_neu[1] = _filter->neu()[1];
|
---|
| 167 | output->_neu[2] = _filter->neu()[2];
|
---|
| 168 | output->_numSat = _filter->numSat();
|
---|
| 169 | output->_pDop = _filter->PDOP();
|
---|
| 170 | output->_trp0 = _filter->trp0();
|
---|
| 171 | output->_trp = _filter->trp();
|
---|
[7572] | 172 | output->_trpStdev = _filter->trpStdev();
|
---|
[7235] | 173 | }
|
---|
| 174 | else {
|
---|
| 175 | output->_error = true;
|
---|
| 176 | }
|
---|
| 177 |
|
---|
| 178 | output->_log = _log->str();
|
---|
| 179 | delete _log; _log = new ostringstream();
|
---|
| 180 | }
|
---|
| 181 |
|
---|
| 182 | //
|
---|
| 183 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 184 | void t_pppClient::putNewObs(t_satData* satData) {
|
---|
| 185 |
|
---|
| 186 | // Set Observations GPS
|
---|
| 187 | // --------------------
|
---|
| 188 | if (satData->system() == 'G') {
|
---|
| 189 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
|
---|
| 190 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
|
---|
| 191 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
|
---|
| 192 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
|
---|
| 193 | double f1 = t_CST::freq(fType1, 0);
|
---|
| 194 | double f2 = t_CST::freq(fType2, 0);
|
---|
| 195 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
|
---|
| 196 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
|
---|
| 197 | satData->L1 = satData->L1 * t_CST::c / f1;
|
---|
| 198 | satData->L2 = satData->L2 * t_CST::c / f2;
|
---|
| 199 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
|
---|
| 200 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
|
---|
| 201 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
|
---|
| 202 | satData->lkA = a1;
|
---|
| 203 | satData->lkB = a2;
|
---|
| 204 | _epoData->satData[satData->prn] = satData;
|
---|
| 205 | }
|
---|
| 206 | else {
|
---|
| 207 | delete satData;
|
---|
| 208 | }
|
---|
| 209 | }
|
---|
| 210 |
|
---|
| 211 | // Set Observations Glonass
|
---|
| 212 | // ------------------------
|
---|
| 213 | else if (satData->system() == 'R' && _opt->useSystem('R')) {
|
---|
[7288] | 214 | if (satData->P1 != 0.0 && satData->P2 != 0.0 &&
|
---|
[7235] | 215 | satData->L1 != 0.0 && satData->L2 != 0.0 ) {
|
---|
| 216 |
|
---|
| 217 | int channel = 0;
|
---|
| 218 | if (satData->system() == 'R') {
|
---|
| 219 | const t_eph* eph = _ephUser->ephLast(satData->prn);
|
---|
| 220 | if (eph) {
|
---|
| 221 | channel = eph->slotNum();
|
---|
| 222 | }
|
---|
| 223 | else {
|
---|
| 224 | delete satData;
|
---|
| 225 | return;
|
---|
| 226 | }
|
---|
| 227 | }
|
---|
| 228 |
|
---|
| 229 | t_frequency::type fType1 = t_lc::toFreq(satData->system(), t_lc::l1);
|
---|
| 230 | t_frequency::type fType2 = t_lc::toFreq(satData->system(), t_lc::l2);
|
---|
| 231 | double f1 = t_CST::freq(fType1, channel);
|
---|
| 232 | double f2 = t_CST::freq(fType2, channel);
|
---|
| 233 | double a1 = f1 * f1 / (f1 * f1 - f2 * f2);
|
---|
| 234 | double a2 = - f2 * f2 / (f1 * f1 - f2 * f2);
|
---|
| 235 | satData->L1 = satData->L1 * t_CST::c / f1;
|
---|
| 236 | satData->L2 = satData->L2 * t_CST::c / f2;
|
---|
| 237 | satData->P3 = a1 * satData->P1 + a2 * satData->P2;
|
---|
| 238 | satData->L3 = a1 * satData->L1 + a2 * satData->L2;
|
---|
| 239 | satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2;
|
---|
| 240 | satData->lkA = a1;
|
---|
| 241 | satData->lkB = a2;
|
---|
| 242 | _epoData->satData[satData->prn] = satData;
|
---|
| 243 | }
|
---|
| 244 | else {
|
---|
| 245 | delete satData;
|
---|
| 246 | }
|
---|
| 247 | }
|
---|
| 248 |
|
---|
| 249 | // Set Observations Galileo
|
---|
| 250 | // ------------------------
|
---|
| 251 | else if (satData->system() == 'E' && _opt->useSystem('E')) {
|
---|
[7288] | 252 | if (satData->P1 != 0.0 && satData->P5 != 0.0 &&
|
---|
[7235] | 253 | satData->L1 != 0.0 && satData->L5 != 0.0 ) {
|
---|
| 254 | double f1 = t_CST::freq(t_frequency::E1, 0);
|
---|
| 255 | double f5 = t_CST::freq(t_frequency::E5, 0);
|
---|
| 256 | double a1 = f1 * f1 / (f1 * f1 - f5 * f5);
|
---|
| 257 | double a5 = - f5 * f5 / (f1 * f1 - f5 * f5);
|
---|
| 258 | satData->L1 = satData->L1 * t_CST::c / f1;
|
---|
| 259 | satData->L5 = satData->L5 * t_CST::c / f5;
|
---|
| 260 | satData->P3 = a1 * satData->P1 + a5 * satData->P5;
|
---|
| 261 | satData->L3 = a1 * satData->L1 + a5 * satData->L5;
|
---|
| 262 | satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5;
|
---|
| 263 | satData->lkA = a1;
|
---|
| 264 | satData->lkB = a5;
|
---|
| 265 | _epoData->satData[satData->prn] = satData;
|
---|
| 266 | }
|
---|
| 267 | else {
|
---|
| 268 | delete satData;
|
---|
| 269 | }
|
---|
| 270 | }
|
---|
| 271 |
|
---|
| 272 | // Set Observations BDS
|
---|
| 273 | // ---------------------
|
---|
| 274 | else if (satData->system() == 'C' && _opt->useSystem('C')) {
|
---|
| 275 | if (satData->P2 != 0.0 && satData->P7 != 0.0 &&
|
---|
| 276 | satData->L2 != 0.0 && satData->L7 != 0.0 ) {
|
---|
| 277 | double f2 = t_CST::freq(t_frequency::C2, 0);
|
---|
| 278 | double f7 = t_CST::freq(t_frequency::C7, 0);
|
---|
| 279 | double a2 = f2 * f2 / (f2 * f2 - f7 * f7);
|
---|
| 280 | double a7 = - f7 * f7 / (f2 * f2 - f7 * f7);
|
---|
| 281 | satData->L2 = satData->L2 * t_CST::c / f2;
|
---|
| 282 | satData->L7 = satData->L7 * t_CST::c / f7;
|
---|
| 283 | satData->P3 = a2 * satData->P2 + a7 * satData->P7;
|
---|
| 284 | satData->L3 = a2 * satData->L2 + a7 * satData->L7;
|
---|
| 285 | satData->lambda3 = a2 * t_CST::c / f2 + a7 * t_CST::c / f7;
|
---|
| 286 | satData->lkA = a2;
|
---|
| 287 | satData->lkB = a7;
|
---|
| 288 | _epoData->satData[satData->prn] = satData;
|
---|
| 289 | }
|
---|
| 290 | else {
|
---|
| 291 | delete satData;
|
---|
| 292 | }
|
---|
| 293 | }
|
---|
| 294 | }
|
---|
| 295 |
|
---|
[7288] | 296 | //
|
---|
[7235] | 297 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 298 | void t_pppClient::putOrbCorrections(const std::vector<t_orbCorr*>& corr) {
|
---|
| 299 | for (unsigned ii = 0; ii < corr.size(); ii++) {
|
---|
| 300 | QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
|
---|
| 301 | t_eph* eLast = _ephUser->ephLast(prn);
|
---|
| 302 | t_eph* ePrev = _ephUser->ephPrev(prn);
|
---|
| 303 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
|
---|
| 304 | eLast->setOrbCorr(corr[ii]);
|
---|
| 305 | }
|
---|
| 306 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
|
---|
| 307 | ePrev->setOrbCorr(corr[ii]);
|
---|
| 308 | }
|
---|
| 309 | }
|
---|
| 310 | }
|
---|
| 311 |
|
---|
[7288] | 312 | //
|
---|
[7235] | 313 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 314 | void t_pppClient::putClkCorrections(const std::vector<t_clkCorr*>& corr) {
|
---|
| 315 | for (unsigned ii = 0; ii < corr.size(); ii++) {
|
---|
| 316 | QString prn = QString(corr[ii]->_prn.toInternalString().c_str());
|
---|
| 317 | t_eph* eLast = _ephUser->ephLast(prn);
|
---|
| 318 | t_eph* ePrev = _ephUser->ephPrev(prn);
|
---|
| 319 | if (eLast && eLast->IOD() == corr[ii]->_iod) {
|
---|
| 320 | eLast->setClkCorr(corr[ii]);
|
---|
| 321 | }
|
---|
| 322 | else if (ePrev && ePrev->IOD() == corr[ii]->_iod) {
|
---|
| 323 | ePrev->setClkCorr(corr[ii]);
|
---|
| 324 | }
|
---|
| 325 | }
|
---|
| 326 | }
|
---|
| 327 |
|
---|
[7288] | 328 | //
|
---|
[7235] | 329 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 330 | void t_pppClient::putCodeBiases(const std::vector<t_satCodeBias*>& satCodeBias) {
|
---|
| 331 | for (unsigned ii = 0; ii < satCodeBias.size(); ii++) {
|
---|
| 332 | _pppUtils->putCodeBias(new t_satCodeBias(*satCodeBias[ii]));
|
---|
| 333 | }
|
---|
| 334 | }
|
---|
| 335 |
|
---|
[7241] | 336 | //
|
---|
| 337 | //////////////////////////////////////////////////////////////////////////////
|
---|
[7288] | 338 | void t_pppClient::putPhaseBiases(const std::vector<t_satPhaseBias*>& /*satPhaseBias*/) {
|
---|
| 339 | }
|
---|
| 340 |
|
---|
| 341 | //
|
---|
| 342 | //////////////////////////////////////////////////////////////////////////////
|
---|
[7241] | 343 | void t_pppClient::putTec(const t_vTec* /*vTec*/) {
|
---|
| 344 | }
|
---|
| 345 |
|
---|
[7288] | 346 | //
|
---|
[7235] | 347 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 348 | void t_pppClient::putEphemeris(const t_eph* eph) {
|
---|
| 349 | bool check = _opt->_realTime;
|
---|
| 350 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
|
---|
| 351 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
|
---|
| 352 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
|
---|
| 353 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
|
---|
| 354 | if (ephGPS) {
|
---|
| 355 | _ephUser->putNewEph(new t_ephGPS(*ephGPS), check);
|
---|
| 356 | }
|
---|
| 357 | else if (ephGlo) {
|
---|
| 358 | _ephUser->putNewEph(new t_ephGlo(*ephGlo), check);
|
---|
| 359 | }
|
---|
| 360 | else if (ephGal) {
|
---|
| 361 | _ephUser->putNewEph(new t_ephGal(*ephGal), check);
|
---|
| 362 | }
|
---|
| 363 | else if (ephBDS) {
|
---|
| 364 | _ephUser->putNewEph(new t_ephBDS(*ephBDS), check);
|
---|
| 365 | }
|
---|
| 366 | }
|
---|
| 367 |
|
---|
| 368 | // Satellite Position
|
---|
| 369 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7288] | 370 | t_irc t_pppClient::getSatPos(const bncTime& tt, const QString& prn,
|
---|
[7235] | 371 | ColumnVector& xc, ColumnVector& vv) {
|
---|
| 372 |
|
---|
| 373 | t_eph* eLast = _ephUser->ephLast(prn);
|
---|
| 374 | t_eph* ePrev = _ephUser->ephPrev(prn);
|
---|
| 375 | if (eLast && eLast->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
|
---|
| 376 | return success;
|
---|
| 377 | }
|
---|
| 378 | else if (ePrev && ePrev->getCrd(tt, xc, vv, _opt->useOrbClkCorr()) == success) {
|
---|
| 379 | return success;
|
---|
| 380 | }
|
---|
| 381 | return failure;
|
---|
| 382 | }
|
---|
| 383 |
|
---|
| 384 | // Correct Time of Transmission
|
---|
| 385 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 386 | t_irc t_pppClient::cmpToT(t_satData* satData) {
|
---|
| 387 |
|
---|
| 388 | double prange = satData->P3;
|
---|
| 389 | if (prange == 0.0) {
|
---|
| 390 | return failure;
|
---|
| 391 | }
|
---|
| 392 |
|
---|
| 393 | double clkSat = 0.0;
|
---|
| 394 | for (int ii = 1; ii <= 10; ii++) {
|
---|
| 395 |
|
---|
| 396 | bncTime ToT = satData->tt - prange / t_CST::c - clkSat;
|
---|
| 397 |
|
---|
| 398 | ColumnVector xc(4);
|
---|
| 399 | ColumnVector vv(3);
|
---|
| 400 | if (getSatPos(ToT, satData->prn, xc, vv) != success) {
|
---|
| 401 | return failure;
|
---|
| 402 | }
|
---|
| 403 |
|
---|
| 404 | double clkSatOld = clkSat;
|
---|
| 405 | clkSat = xc(4);
|
---|
| 406 |
|
---|
| 407 | if ( fabs(clkSat-clkSatOld) * t_CST::c < 1.e-4 ) {
|
---|
| 408 | satData->xx = xc.Rows(1,3);
|
---|
| 409 | satData->vv = vv;
|
---|
| 410 | satData->clk = clkSat * t_CST::c;
|
---|
| 411 | return success;
|
---|
[7288] | 412 | }
|
---|
[7235] | 413 | }
|
---|
| 414 |
|
---|
| 415 | return failure;
|
---|
| 416 | }
|
---|