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TakahashiJinxu / ublox2rinex

an ROS package to convert the GNSS raw measurements from topic "/ublox_gps_node/rxmraw" in ROS bag to RINEX file. tested on California part of the UrbanLoco dataset.
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The issue of the *.pos in RTKplot #4

Open yulan0215 opened 3 years ago

yulan0215 commented 3 years ago

Hi:

I am sorry to tell you that I encountered some problems, like: I use my ublox receiver to record the standard *.ubx file and ROS bag messages in the same place with same path. But when I exact the ros msg with your ros package "ublox2rinex", those two results were different:

image (The result from your ros package...)

image (The result from standard *.ubx file)

I will appreciate if you can give me some ideas!

TakahashiJinxu commented 3 years ago

Hi:

I am sorry to tell you that I encountered some problems, like: I use my ublox receiver to record the standard *.ubx file and ROS bag messages in the same place with same path. But when I exact the ros msg with your ros package "ublox2rinex", those two results were different:

image (The result from your ros package...)

image (The result from standard *.ubx file)

I will appreciate if you can give me some ideas!

Hello! I think this problem is probably cause by the way of localization adopted by the ublox receiver. Ublox receiver may not simply use SPP for positioning. For example, it may utilize the information in carrier phase. By the way, my ros package can extract correct (I think) pseudorange and correct Doppler shift, but the correctness of carrier phase is not validated. I only used my ros package to extract pseudorange and Doppler shift.