如何根据通过Google GNSSLogger获取的参数计算伪距?

问题描述

通过GNSS记录器应用程序获取的官方GNSS原始测量值提供以下参数:

The official GNSS raw measurements fetched via GNSS logger app provides the following parameters :

TimeNanos
LeapSecond
TimeUncertaintyNanos
FullBiasNanos
BiasNanos
BiasUncertaintyNanos
DriftNanosPerSecond
DriftUncertaintyNanosPerSecond  HardwareClockDiscontinuityCount
Svid
TimeOffsetNanos
State
ReceivedSvTimeNanos
ReceivedSvTimeUncertaintyNanos
Cn0DbHz
PseudorangeRateMetersPerSecond
PseudorangeRateUncertaintyMetersPerSecond

我正在从以上数据中寻找原始的伪距测量值PR.有什么帮助吗?

I'm looking for the raw pseudorange measurements PR from the above data. A little help?

参考文献1: https://github.com/google/gps-measurement-tools

参考2: https://developer.android.com/guide/topics/传感器/gnss

推荐答案

Pseudorange[m] = (AverageTravelTime[s] + delta_t[s]) * speedOfLight[m/s]

其中:m-米，s-秒.

尝试这种方式:

1. 从一个星座中选择卫星(首先尝试使用GPS).
2. 选择最大值ReceivedSvTimeNanos.
3. 为每个卫星计算delta_t为
   最大ReceivedSvTimeNanos减去电流ReceivedSvTimeNanos
   (delta_t = maxRst - curRst).
4. 平均行进时间为70毫秒，光速为299792458 m/s.用它来计算.

1. Select satellites from one constellation (at first try with GPS).
2. Chose max value of ReceivedSvTimeNanos.
3. Calculate delta_t for each satellite as
   max ReceivedSvTimeNanos minus current ReceivedSvTimeNanos
   (delta_t = maxRst - curRst).
4. Average travel time is 70 milliseconds, speed of light 299792458 m/s. use it for calculation.

别忘了将所有值转换为相同的单位.

Don't forget to convert all values to the same units.

有关详细信息，请参见此pdf 和 UserPositionVelocityWeightedLeastSquare类

For details refer to this pdf and UserPositionVelocityWeightedLeastSquare class

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