| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "Saastamoinen.hpp" | ||
| 10 | |||
| 11 | #include <cmath> | ||
| 12 | #include "util/Logger.hpp" | ||
| 13 | |||
| 14 | namespace NAV | ||
| 15 | { | ||
| 16 | |||
| 17 | 21942 | double calcZHD_Saastamoinen(const Eigen::Vector3d& lla_pos, double p) | |
| 18 | { | ||
| 19 | 21942 | const double& lat = lla_pos(0); // Latitude in [rad] | |
| 20 | 21942 | const double& alt = lla_pos(2); // Altitude/Height in [m] | |
| 21 | |||
| 22 | // Zenith hydrostatic delay [m] - Davis, Appendix A, eq. A11, p. 1604 | ||
| 23 | 21942 | double ZHD = 0.0022768 * p / (1 - 0.00266 * std::cos(2 * lat) - 0.00028 * alt * 1e-3); | |
| 24 | LOG_DATA("ZHD {} [m] (Zenith hydrostatic delay)", ZHD); | ||
| 25 | |||
| 26 | 21942 | return ZHD; | |
| 27 | } | ||
| 28 | |||
| 29 | 21942 | double calcZWD_Saastamoinen(double T, double e) | |
| 30 | { | ||
| 31 | // Zenith wet delay [m] | ||
| 32 | 21942 | double ZWD = 0.002277 * (1255.0 / T + 0.05) * e; | |
| 33 | LOG_DATA("ZWD {} [m] (Zenith wet delay)", ZWD); | ||
| 34 | |||
| 35 | 21942 | return ZWD; | |
| 36 | } | ||
| 37 | |||
| 38 | } // namespace NAV | ||
| 39 |