CLK BDS2/3 in SPP

thetengda · Mar 29, 2023 · 5d1b56c · 5d1b56c
1 parent 81ee67a
commit 5d1b56c
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Showing 2 changed files with 20 additions and 10 deletions.
diff --git a/src/pntpos.c b/src/pntpos.c
@@ -28,7 +28,7 @@
 
 /* constants/macros ----------------------------------------------------------*/
 
-#define NX (3 + NSYS) /* # of estimated parameters */
+#define NX (3 + NSYS+1) /* # of estimated parameters */
 
 #define MAXITR 10          /* max number of iteration for point pos */
 #define ERR_ION 5.0        /* ionospheric delay Std (m) */
@@ -252,7 +252,6 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs, const d
         if (isys < 0 || isys >= NSYS) {
             continue;
         }
-        dtr = x[3 + isys];
 
         /* reject duplicated observation data */
         if (i < n - 1 && i < MAXOBS - 1 && sat == obs[i + 1].sat) {
@@ -295,17 +294,25 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs, const d
         if ((P = prange(obs + i, nav, opt, &vmeas)) == 0.0)
             continue;
 
-        /* pseudorange residual */
-        v[nv] = P - (r + dtr - CLIGHT * dts[i * 2] + dion + dtrp);
+
 
         /* design matrix */
         for (j = 0; j < NX; j++) {
             H[j + nv * NX] = j < 3 ? -e[j] : 0.0; // x y z
         }
         /* time system offset and receiver bias correction */
         //fixed: a dtr for a system, not isb
-        H[isys + 3 + nv * NX] = 1.0;
-        mask[isys] = 1;
+        if (bds2or3(sat) == 2) {
+            H[NX - 1 + nv * NX] = 1.0;
+            mask[NX - 3 - 1]    = 1;
+            dtr = x[NX-1];
+        } else {
+            H[isys + 3 + nv * NX] = 1.0;
+            mask[isys]            = 1;
+            dtr = x[3 + isys];
+        }
+        /* pseudorange residual */
+        v[nv] = P - (r + dtr - CLIGHT * dts[i * 2] + dion + dtrp);
 
         vsat[i] = 1;
         resp[i] = v[nv];

diff --git a/src/ppp.c b/src/ppp.c
@@ -655,7 +655,7 @@ static void udpos_ppp(rtk_t *rtk) {
 /* temporal update of clock --------------------------------------------------*/
 static void udclk_ppp(rtk_t *rtk) {
     double dtr;
-    int i;
+    int i,j;
 
     trace(3, "udclk_ppp:\n");
 
@@ -667,9 +667,12 @@ static void udclk_ppp(rtk_t *rtk) {
             // dtr = rtk->sol.dtr[0];
             // fixed: dtr are derived from spp for each system
             dtr = rtk->sol.dtr[i];
-            if(dtr==0){ // spp do not get dtr(i)
-                dtr = rtk->sol.dtr[0]; // use dtr(G) instead
-            }
+            // if(dtr==0){ // spp do not get dtr(i)
+            //     for(j=0;j<NSYS+1;++j){
+            //         if(rtk->sol.dtr[j]!=0)
+            //             dtr = rtk->sol.dtr[j]; // use dtr(G) instead
+            //     }
+            // }
         // } else {
         //     dtr = i == 0 ? rtk->sol.dtr[0] : rtk->sol.dtr[0] + rtk->sol.dtr[i];
         // }