| 195 | } |
| 196 | |
| 197 | void TangentPlaneConverter::convertMeasurementToLocal(Data &Measurement) |
| 198 | { |
| 199 | /** check if the measurement has the right type */ |
| 200 | if(Measurement.getType() != DataType::Pseudorange3) |
| 201 | { |
| 202 | PRINT_ERROR("Wrong sensor Type: ", Measurement.getType()); |
| 203 | return; |
| 204 | } |
| 205 | |
| 206 | /** remove earth rotation effect */ |
| 207 | Vector3 SatPosGlobal = Measurement.getValue(DataElement::SatPos); |
| 208 | Vector1 RelCor; |
| 209 | RelCor(0) = RelativisticCorrection(_TangentPoint.data(), SatPosGlobal); |
| 210 | Measurement.setMean(Measurement.getMean() - RelCor); |
| 211 | |
| 212 | /** convert sat pos */ |
| 213 | Measurement.setValue(DataElement::SatPos, convertToLocal(SatPosGlobal)); |
| 214 | } |
| 215 | |
| 216 | void TangentPlaneConverter::convertMeasurementToGlobal(Data &Measurement) |
| 217 | { |