Feature/gnss receiver update pseudorange #730
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fukudakazuya
added
priority::medium
fukudakazuya
requested review from
200km,
ogoogo,
Hiro-0110,
seki-hiro,
suzuki-toshihir0,
t-hosonuma and
conjikidow
and removed request for
a team
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Related issues
#600
Description
擬似距離の計算を以下の式に従って追加した．
擬似距離=幾何学的距離+白色ノイズ
また各GPSから得られる擬似距離と，擬似距離と幾何学的距離の差をプロットするコードを追加した．
Test results
gnss_receiver.iniのprescaler は 1とした．
【各GPSから得られる擬似距離の値】
【擬似距離の白色ノイズ標準偏差を0mとしたときの擬似距離と幾何学的距離の差】
差は10^-8m程度である．
【擬似距離の白色ノイズ標準偏差を10mとしたときの擬似距離と幾何学的距離の差】
差は3シグマである30m以内にほぼ収まっている．
Impact
Describe the scope of influence of the changes, e.g.,
The behavior of feature ** changes.Supplementary information
Provide any supplementary information.