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pathfinder-for-autonomous-navigation / psim

Six DOF flight simulator and related GNC implementations.
MIT License
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CDGPS Sensor Model #302

Closed kylekrol closed 3 years ago

kylekrol commented 3 years ago

Relates to #141.

Summary of changes

Testing

The CDGPS sensor model was tested using deployment initial conditions to verify the range based sensor behavior:

python -m psim -s 60000 -p sensors/cdgps,sensors/gps -ps 10 -c sensors/base,truth/base,truth/deployment -v DualOrbitGnc

Notice how a little over 8000 seconds in the CDGPS sensor readings disappear where as GPS readings don't; this means the sensor was deactivate at longer ranges as expected.

cdgps cdgps_error gps

kylekrol commented 3 years ago

@shihaocao and whoever else is familiar with RTK, if we could verify exactly what they mean by baseline position for this PR that would be much appreciated!

kylekrol commented 3 years ago

@shihaocao Per our brief discussion of RTK readouts, once I flip a minus sign I believe this model should be correct. We take the different between the two satellites in ECEF and return the vector pointing from the "other" satellite to "this" satellite.