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ADD: filtered geometric transformation added

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M.A.Gomez 2022-11-12 15:47:35 +00:00
parent 9c7c5c9acf
commit 1155895f70
1 changed files with 48 additions and 25 deletions
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73
src/algorithms/PVT/libs/vtl_engine.cc
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@ -157,9 +157,11 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
// Kalman filter update step
kf_S = kf_H * kf_P_x* kf_H.t() + kf_R; // innovation covariance matrix (S)
kf_K = (kf_P_x * kf_H.t()) * arma::inv(kf_S); // Kalman gain
kf_x = kf_x + kf_K * (kf_yerr); // updated state estimation
kf_xerr = kf_K * (kf_yerr); // Error state estimation
kf_x = kf_x + kf_xerr; // updated state estimation (a priori + error)
kf_P_x = (arma::eye(size(kf_P_x)) - kf_K * kf_H) * kf_P_x; // update state estimation error covariance matrix
// States related tu USER clock adjust from m/s to s (by /SPEED_OF_LIGHT_M_S)
kf_x(6) =kf_x(6) /SPEED_OF_LIGHT_M_S;
@ -170,34 +172,55 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
// // ################## Geometric Transformation ######################################
// for (int32_t i = 0; i < new_data.sat_number; n++) //neccesary quantities at posteriori
// {
// //compute pseudorange posteriori estimation
// // rho_est(i)=;
// //compute LOS sat-receiver vector components posteriori
// // a_x(i)=;
// // a_y(i)=;
// // a_z(i)=;
// //compute pseudorange rate posteriori estimation
// // rhoDot_est(i)=;
// }
// // x_u=kf_x(0);
// // y_u=kf_x(1);
// // z_u=kf_x(2);
// // xDot_u=kf_x(3);
// // yDot_u=kf_x(4);
// // zDot_u=kf_x(5);
// // cdeltat_u=kf_x(6)*SPEED_OF_LIGHT_M_S;
// // cdeltatDot_u=kf_x(7)*SPEED_OF_LIGHT_M_S;
// kf_H = arma::zeros(8, 2*new_data.sat_number);
for (int32_t i = 0; i < new_data.sat_number; i++) //neccesary quantities
{
//d(i) is the distance sat(i) to receiver
d(i)=(new_data.sat_p(i, 0)-kf_x(0))*(new_data.sat_p(i, 0)-kf_x(0));
d(i)=d(i)+(new_data.sat_p(i, 1)-kf_x(1))*(new_data.sat_p(i, 1)-kf_x(1));
d(i)=d(i)+(new_data.sat_p(i, 2)-kf_x(2))*(new_data.sat_p(i, 2)-kf_x(2));
d(i)=sqrt(d(i));
// for (int32_t i = 0; i < new_data.sat_number; n++) // Measurement matrix H posteriori assembling
// {
// // It has 8 columns (8 states) and 2*NSat rows (NSat psudorange error;NSat pseudo range rate error)
// kf_H(i, 0) = a_x(i); kf_H(i, 1) = a_y(i); kf_H(i, 2) = a_z(i); kf_H(i, 6) = 1.0;
// kf_H(i+new_data.sat_number, 3) = a_x(i); kf_H(i+new_data.sat_number, 4) = a_y(i); kf_H(i+new_data.sat_number, 5) = a_z(i); kf_H(i+new_data.sat_number, 7) = 1.0;
// }
//compute pseudorange estimation
rho_pri(i)=d(i)+kf_x(6)*SPEED_OF_LIGHT_M_S;
//compute LOS sat-receiver vector components
a_x(i)=-(new_data.sat_p(i, 0)-kf_x(0))/d(i);
a_y(i)=-(new_data.sat_p(i, 1)-kf_x(1))/d(i);
a_z(i)=-(new_data.sat_p(i, 2)-kf_x(2))/d(i);
//compute pseudorange rate estimation
rhoDot_pri(i)=(new_data.sat_v(i, 0)-kf_x(3))*a_x(i)+(new_data.sat_v(i, 1)-kf_x(4))*a_y(i)+(new_data.sat_v(i, 2)-kf_x(5))*a_z(i)+kf_x(7)*SPEED_OF_LIGHT_M_S;
}
// //Re-calculate error measurement vector with the most recent data available
// //kf_delta_y=kf_H*kf_delta_x
// //Filtered pseudorange error measurement (in m):
// //delta_rho_filt=;
// //Filtered Doppler error measurement (in Hz):
// //delta_doppler_filt=;
kf_H = arma::zeros(2*new_data.sat_number,8);
for (int32_t i = 0; i < new_data.sat_number; i++) // Measurement matrix H assembling
{
// It has 8 columns (8 states) and 2*NSat rows (NSat psudorange error;NSat pseudo range rate error)
kf_H(i, 0) = a_x(i); kf_H(i, 1) = a_y(i); kf_H(i, 2) = a_z(i); kf_H(i, 6) = 1.0;
kf_H(i+new_data.sat_number, 3) = a_x(i); kf_H(i+new_data.sat_number, 4) = a_y(i); kf_H(i+new_data.sat_number, 5) = a_z(i); kf_H(i+new_data.sat_number, 7) = 1.0;
}
// Re-calculate error measurement vector with the most recent data available: kf_delta_y=kf_H*kf_delta_x
kf_yerr=kf_H*kf_xerr;
// Filtered pseudorange error measurement (in m) AND Filtered Doppler shift measurements (in Hz):
for (int32_t i = 0; i < new_data.sat_number; i++) // Measurement vector
{
rho_pri(i)=new_data.pr_m(i)-kf_yerr(i); // now filtered
rhoDot_pri(i)=(new_data.doppler_hz(i)*Lambda_GPS_L1+cdeltatDot_u)-kf_yerr(i+new_data.sat_number); // now filtered
// TO DO: convert rhoDot_pri to doppler shift!
// Doppler shift defined as pseudorange rate measurement divided by the negative of carrier wavelength.
rhoDot_pri(i)=-rhoDot_pri(i)/Lambda_GPS_L1;
}
//TODO: Fill the tracking commands outputs
// Notice: keep the same satellite order as in the Vtl_Data matrices
// sample code