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MOD: Q and R values

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This commit is contained in:
M.A.Gomez 2022-12-16 16:54:25 +00:00
parent c53bd9387c
commit 4ab537ab31
1 changed files with 2 additions and 2 deletions
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src/algorithms/PVT/libs/vtl_engine.cc
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@ -100,8 +100,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
for (int32_t i = 0; i < new_data.sat_number; i++) for (int32_t i = 0; i < new_data.sat_number; i++)
{ {
// It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error) // It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error)
kf_R(i, i) = 10.0; //TODO: fill with real values. kf_R(i, i) = 20.0; //TODO: fill with real values.
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 30.0; kf_R(i + new_data.sat_number, i + new_data.sat_number) = 2.0;
} }
// Kalman state prediction (time update) // Kalman state prediction (time update)