GnssCommon.cpp File Reference

Implementation of shared GNSS utilities. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
double	gtsam::gnss::geodist (const Point3 &sat, const Point3 &rcv, Point3 &e, OptionalJacobian< 1, 3 > H_rcv={})
	Geometric distance with Sagnac correction.

Detailed Description

Implementation of shared GNSS utilities.

Date

April 16, 2026

Function Documentation

geodist()

GTSAM_EXPORT double gtsam::gnss::geodist	(	const Point3 &	sat,
		const Point3 &	rcv,
		Point3 &	e,
		OptionalJacobian< 1, 3 >	H_rcv = {} )

Geometric distance with Sagnac correction.

Computes the Euclidean distance between a satellite and a receiver in ECEF, plus the first-order Sagnac correction for the rotating Earth. When the satellite and receiver positions coincide (within machine epsilon) the unit vector is set to zero and the optional Jacobian is set to zero, which avoids NaNs from dividing by zero.

Parameters

[in]	sat	Satellite ECEF position (m).
[in]	rcv	Receiver ECEF position (m).
[out]	e	Unit vector from receiver to satellite.
[out]	H_rcv	Optional Jacobian of the returned range w.r.t. rcv (1x3). Includes the contribution from the Sagnac term.

Returns

Geometric range with Sagnac correction (m).