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Adding a simple PVT Holonomic Kalman filter for position and velocity

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This commit is contained in:
Javier Arribas
2023-07-04 13:09:45 +02:00
parent d30b87c2c1
commit 36e709dda6
12 changed files with 305 additions and 27 deletions
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7
src/algorithms/PVT/libs/pvt_conf.h
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@@ -94,6 +94,13 @@ public:
bool use_e6_for_pvt = true;
bool use_has_corrections = true;
bool use_unhealthy_sats = false;
//PVT KF parameters
bool enable_pvt_kf = false;
double measures_ecef_pos_sd_m = 1.0;
double measures_ecef_vel_sd_ms = 0.1;
double system_ecef_pos_sd_m = 0.01;
double system_ecef_vel_sd_ms = 0.001;
};