Wrong implementation of ECOM2 model
Some equations in ECOM2
model seem to not correspond to the reference equations of the model. For instance, eD
and eY
equations. In addition, these two vectors must be unit vectors. However, when looking at the values in debug mode, they are not unit vectors.
The reference equations can be found in Chapter 3.2.4 of Handbook of Global Navigation Satellite Systems of Teunissen and Montenbruck (Eq. 3.31 to 3.36)