matlab meas 函数_gnsspvt.m

function [posvel] = gnssPvt(gnssmeas)

% 定位解算主函数入口

% gnssmeas: 观测量数据

%

global GpsEph;

global BdEph;

global debugHdle;

global PhyConstant;

global localTime;

global localPosvel;

global localPosvelKF;

global kalmanFilter;

global guidisp;

global Re2t;

global buffLSResult;

global buffKFResult;

posfixLSQ = zeros(1,13);

posfixKF = zeros(1,13);

%尝试初始化本地时间

if localTime.accu==0,

if gnssmeas.num>0,

%必须有观测量存在的情况下

guess_tow = 0.0;

for k=1:gnssmeas.num,

if gnssmeas.gnssId(k)==0 && gnssmeas.pseudo_cd_ph(k)>guess_tow,

guess_tow = gnssmeas.pseudo_cd_ph(k);

elseif gnssmeas.gnssId(k)==1 && (gnssmeas.pseudo_cd_ph(k)+14000.0)>guess_tow,

guess_tow = gnssme