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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Enhance const correctness, minor cosmetics
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@ -84,7 +84,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::forecast(int noutput_items,
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{
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if (noutput_items != 0)
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{
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ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
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ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; // set the required available samples in each call
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}
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}
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@ -122,7 +122,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
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// Initialize tracking ==========================================
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d_code_loop_filter.set_DLL_BW(dll_bw_hz);
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//--- DLL variables --------------------------------------------------------
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// --- DLL variables --------------------------------------------------------
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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// Initialization of local code replica
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@ -144,7 +144,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
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multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
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//--- Perform initializations ------------------------------
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// --- Perform initializations ------------------------------
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// define initial code frequency basis of NCO
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d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
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// define residual code phase (in chips)
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@ -156,7 +156,6 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
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// sample synchronization
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d_sample_counter = 0;
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//d_sample_counter_seconds = 0;
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d_acq_sample_stamp = 0;
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d_enable_tracking = false;
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@ -197,7 +196,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
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double sigma2_phase_detector_cycles2;
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sigma2_phase_detector_cycles2 = (1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD)) * (1.0 + 1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD));
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//covariances (static)
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// covariances (static)
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double sigma2_carrier_phase = GPS_TWO_PI / 4;
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double sigma2_doppler = 450;
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double sigma2_doppler_rate = pow(4.0 * GPS_TWO_PI, 2) / 12.0;
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@ -38,7 +38,7 @@
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*/
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#include "bayesian_estimation.h"
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#include <armadillo>
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Bayesian_estimator::Bayesian_estimator()
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{
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@ -176,12 +176,12 @@ void Bayesian_estimator::update_sequential(const arma::vec& data, const arma::ve
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Psi_prior = Psi_posterior;
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}
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arma::mat Bayesian_estimator::get_mu_est()
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arma::mat Bayesian_estimator::get_mu_est() const
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{
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return mu_est;
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}
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arma::mat Bayesian_estimator::get_Psi_est()
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arma::mat Bayesian_estimator::get_Psi_est() const
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{
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return Psi_est;
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}
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@ -69,8 +69,8 @@ public:
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void update_sequential(const arma::vec& data);
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void update_sequential(const arma::vec& data, const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0);
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arma::mat get_mu_est();
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arma::mat get_Psi_est();
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arma::mat get_mu_est() const;
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arma::mat get_Psi_est() const;
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private:
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arma::vec mu_est;
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