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ADD: cdeltaDot_u in measurements (both sides)

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miguekf 2022-12-12 23:45:02 +01:00
parent 86c805177a
commit 233343a5b7
1 changed files with 3 additions and 3 deletions
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6
src/utils/matlab/vtl/kf_prototype.m
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@ -112,7 +112,7 @@ for t=2:length(navSolution.RX_time)
rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
+(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u;
end
@ -131,8 +131,8 @@ for t=2:length(navSolution.RX_time)
% Kalman estimation (measurement update)
for chan=1:5 % Measurement matrix H assembling
kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);%-0.000157*SPEED_OF_LIGHT_M_S;
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t);
end
% DOUBLES DIFFERENCES