Hi ! I am using orekit to perform ionosphere-free code+phase GNSS OD with a kalman estimator. I am using OneWayGNSSPhase with the ambiguityCache. And in order to deal with the cycle slips I used PhaseMinusCodeCycleSlipDetector (the two frequency detector outputted 0 cycle slips despite very low thresholds) then, for each satellite and frequency, I used .getAmbiguityDriver().addSpanAtDate(measDate); on the measurement ambiguity driver (following the recommendation of this topic here ). Now whenever the kalman is called either at its initialisation or for a kalman.estimationStep(measurement), I get the following error :
org.orekit.errors.OrekitIllegalStateException: le paramètre ambiguity-G07-sat-0-154.00 contient plusieurs intervals dans sa TimeSpanMap de valeurs, il faut utiliser la méthode getParameterDerivatives(driver, date) at org.orekit.estimation.measurements.EstimatedMeasurement.getParameterDerivatives(EstimatedMeasurement.java:151) at org.orekit.estimation.sequential.KalmanModel.getMeasurementMatrix(KalmanModel.java:277) at org.orekit.estimation.sequential.KalmanModel.getEvolution(KalmanModel.java:343) at org.orekit.estimation.sequential.KalmanModel.getEvolution(KalmanModel.java:47) at org.hipparchus.filtering.kalman.extended.ExtendedKalmanFilter.estimationStep(ExtendedKalmanFilter.java:56) at org.orekit.estimation.sequential.KalmanEstimator.estimationStep(KalmanEstimator.java:142)
Is there any way to overcome that ? Maybe should I skip the addSpanAtDate and temporarily change/increase the covariance matrices at each cycle-slip ?
Thank you.