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fix: kf error s to m ( time C)

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M.A.Gomez 2022-12-08 19:42:33 +00:00
parent 6b74976a4a
commit 1564af8c11
1 changed files with 1 additions and 10 deletions
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11
src/algorithms/PVT/libs/vtl_engine.cc
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@ -176,16 +176,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
new_data.kf_P=kf_P_x; new_data.kf_P=kf_P_x;
new_data.kf_state=kf_x; //updated state estimation new_data.kf_state=kf_x; //updated state estimation
//new_data.kf_state.print("computed kf_state"); //new_data.kf_state.print("computed kf_state");
fstream dump_vtl_file;
// 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;
// kf_x(7) =kf_x(7) /SPEED_OF_LIGHT_M_S;
new_data.kf_state(6)=new_data.kf_state(6)/SPEED_OF_LIGHT_M_S;
new_data.kf_state(7)=1e-8/SPEED_OF_LIGHT_M_S;
// TODO: compare how KF state diverges from RTKLIB solution!
fstream dump_vtl_file;
dump_vtl_file.open("dump_vtl_file.csv", ios::out|ios::app); dump_vtl_file.open("dump_vtl_file.csv", ios::out|ios::app);
dump_vtl_file.precision(15); dump_vtl_file.precision(15);
if (!dump_vtl_file) { if (!dump_vtl_file) {