Issuses on the Jacobian of the GnssPsrDoppFactor.

[Nronaldo]

Dear authors:
Could you please tell me how to calculate the doppler factor Jacobian with respect to the position state? I do not understand the codes that are marked by a red cycle in the following figure. I refer to the arxiv version of your article and do not find the details about this Jacobian. Could you give me a guide or reference? Thank you!

[LSXiang]

@Nronaldo I have the same problem. Do you understand now?

[Nronaldo]

@Nronaldo I have the same problem. Do you understand now?

I am sorry I do not.. If you know ,please tell me.

[Mil1ium]

Maybe this could help you. @Nronaldo @LSXiang
I'm not necessarrily right, just for reference.

[LSXiang]

@Mil1ium Great, thanks a lot.

[Abner0907]

@Mil1ium HI,
Thanks for your notes above here. Can you share some papers or references links about the algorithm.

[aphasiayc]

I have a related question. Both in GnssPsrDoppFactor and in psr_pos (which i believe is largely inherited from RTKLIB), the derivatives of the Sagnac term do no appear in the Jacobians. Why is that?