GnssCommon.h File Reference

Shared constants and utilities for GNSS factors. More...

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Classes
struct	gtsam::GnssMeasurementBase
	Base class storing common members for GNSS measurement factors. More...
struct	gtsam::gnss::DoubleDifferenceData
	Shared geometry data for double-difference factors. More...
struct	gtsam::gnss::LeverArm
	Lever-arm helper for GNSS factors that key on a body Pose3. More...
struct	gtsam::gnss::LeverArm::PoseFrame
	Intermediate quantities cached by antennaPosition() so antennaPoseJacobian can compute the pose Jacobian without recomputing the rotation/compose. 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.

Variables
constexpr double	gtsam::gnss::C_LIGHT = 299792458.0
	Speed of light in a vacuum (m/s).
constexpr double	gtsam::gnss::OMGE = 7.2921151467e-5
	WGS-84 Earth rotation rate (rad/s).

Detailed Description

Shared constants and utilities for GNSS factors.

Date

April 14, 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).