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MOD: modify matlab kf_prototype clk_drift error compensation

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miguekf 2022-12-21 23:45:25 +01:00
parent 6039d2471b
commit 63b777ecbd
1 changed files with 9 additions and 3 deletions
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12
src/utils/matlab/vtl/kf_prototype.m
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@ -122,7 +122,7 @@ 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)+cdeltatDot_u;
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
end
for chan=1:5 % Measurement matrix H assembling
@ -140,7 +140,12 @@ 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);
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t);
if (t<length(navSolution.RX_time)-point_of_closure)
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
else
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t);
end
end
% DOUBLES DIFFERENCES
@ -209,7 +214,8 @@ for t=2:length(navSolution.RX_time)
pr_m_filt(chan,t)=sat_prg_m(chan,t)+kf_yerr_g(chan,t);% now filtered
rhoDot_pri_filt(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+corr_kf_state(8,t))-kf_yerr_g(chan+sat_number,t);
%convert rhoDot_pri to doppler shift!
d_dt_clk_drift=(corr_kf_state(8,t)-corr_kf_state(8,t-1));
% d_dt_clk_drift=(corr_kf_state(8,t)-corr_kf_state(8,t-1));
d_dt_clk_drift=0;
if (t<length(navSolution.RX_time)-point_of_closure)
sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1;