UWBIns/lib/gnss/ch_sv_pos_rotate.m

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2025-04-16 20:15:33 +08:00
function SP = ch_sv_pos_rotate(SP, tau)
%% <20><><EFBFBD><EFBFBD><E3BEAD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
% Earth's rotation rate
% SP: <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
omega_e = 7.2921151467e-5; %(rad/sec)
theta = omega_e * tau;
SP = [cos(theta) sin(theta) 0; -sin(theta) cos(theta) 0; 0 0 1]*SP;
end