Satellite Pseudoranges

asked 2014-08-11 09:27:22 -0600

Naz
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I am trying to retrieve the Pseudoranges from the satellite to the GPS receiver mounted on the Husky robot. The type of messages I have related to GPS are :

sensor_msgs/NavSatFix

nmea_msgs/Sentence

sensor_msgs/TimeReference

geometry_msgs/TwistedStamped

geometry_msgs/PoseWithCovarianceStamped

All I can log now is GPS solution (longitude, latitude and altitude) which is part of the sensor_msgs/NavSatFix message . I wonder where can I find the Pseudoranges from the satellite to the GPS receiver.

Thanks in Advance,

Naz

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The default ROS driver probably doesn't expose the data you're looking for. You should probably contact Clearpath or the GPS manufacturer directly.

ahendrix ( 2014-08-11 14:30:10 -0600 )edit

Can you tell us what you're trying to do with the pseudoranges?

Tom Moore ( 2014-08-12 13:30:13 -0600 )edit

Sure, I am trying to estimate the relative distances between two vehicles. The two vehicles are equipped with GPS , using the Pseudoranges and the satellite positions the relative distance can be computed using the double differencing method.

Naz ( 2014-08-12 13:40:33 -0600 )edit

Here is a link to the GPS integrated in our Husky robot (vehicle) : http://static.garmincdn.com/pumac/GPS...

Naz ( 2014-08-12 13:41:15 -0600 )edit

A quick read of the datasheet suggests that your GPS doesn't provide pseudorange output.

ahendrix ( 2014-08-12 20:10:34 -0600 )edit

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I am specifically working on enhancing the algorithm of double differencing using Kalman filter by figuring out the errors in Pseudoranges due to multipath and depending also on the carrier-noise-ratio of the pseudorange received.My main research is about relative distance using double differencing.

Naz ( 2014-08-12 13:53:27 -0600 )edit

Gotcha. Offhand, I don't know of any existing ROS nodes that extract that information from GPS units. You might want to go the route suggested by @ahendrix. Alternatively, if the 18x provides that information, you can create or modify the existing ROS packages to produce the data you need.

Tom Moore ( 2014-08-12 14:08:05 -0600 )edit

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