mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-11-15 14:25:00 +00:00
Code Issues Releases Wiki Activity

fix: kf error s to m ( time C)

Browse Source
This commit is contained in:
M.A.Gomez 2022-12-08 19:42:33 +00:00
parent 6b74976a4a
commit 1564af8c11
1 changed files with 1 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/algorithms/PVT/libs/vtl_engine.cc
View File

@ -176,15 +176,6 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
new_data.kf_P=kf_P_x;
new_data.kf_state=kf_x; //updated state estimation
//new_data.kf_state.print("computed kf_state");
// 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.precision(15);