From 233343a5b7080c9377b8f755dd4ea11484ac9148 Mon Sep 17 00:00:00 2001 From: miguekf Date: Mon, 12 Dec 2022 23:45:02 +0100 Subject: [PATCH] ADD: cdeltaDot_u in measurements (both sides) --- src/utils/matlab/vtl/kf_prototype.m | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/utils/matlab/vtl/kf_prototype.m b/src/utils/matlab/vtl/kf_prototype.m index 6367f121c..bb46a5e3d 100644 --- a/src/utils/matlab/vtl/kf_prototype.m +++ b/src/utils/matlab/vtl/kf_prototype.m @@ -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