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fix: state is not clk, is clk times C

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M.A.Gomez 2022-12-08 19:36:32 +00:00
parent 0b34880fc6
commit 6b74976a4a
1 changed files with 6 additions and 6 deletions
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12
src/algorithms/PVT/libs/vtl_engine.cc
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@ -66,8 +66,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
kf_x(3) = new_data.rx_v(0); kf_x(3) = new_data.rx_v(0);
kf_x(4) = new_data.rx_v(1); kf_x(4) = new_data.rx_v(1);
kf_x(5) = new_data.rx_v(2); kf_x(5) = new_data.rx_v(2);
kf_x(6) = new_data.rx_dts(0); kf_x(6) = new_data.rx_dts(0)*SPEED_OF_LIGHT_M_S;
kf_x(7) = 1e-8; kf_x(7) = new_data.rx_dts(1)*SPEED_OF_LIGHT_M_S;
} else { } else {
// receiver solution from previous KF step // receiver solution from previous KF step
@ -77,8 +77,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
kf_x(3) = new_data.kf_state[3]; kf_x(3) = new_data.kf_state[3];
kf_x(4) = new_data.kf_state[4]; kf_x(4) = new_data.kf_state[4];
kf_x(5) = new_data.kf_state[5]; kf_x(5) = new_data.kf_state[5];
kf_x(6) = new_data.kf_state[6];//new_data.rx_dts(0); kf_x(6) = new_data.kf_state[6];
kf_x(7) = 1e-8; kf_x(7) = new_data.kf_state[7];
kf_P_x=new_data.kf_P; kf_P_x=new_data.kf_P;
} }
// State error Covariance Matrix Q (PVT) // State error Covariance Matrix Q (PVT)
@ -108,8 +108,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
xDot_u=kf_x(3); xDot_u=kf_x(3);
yDot_u=kf_x(4); yDot_u=kf_x(4);
zDot_u=kf_x(5); zDot_u=kf_x(5);
cdeltat_u=new_data.rx_dts(0)*SPEED_OF_LIGHT_M_S; cdeltat_u=kf_x(6);
cdeltatDot_u=1e-8*SPEED_OF_LIGHT_M_S; cdeltatDot_u=kf_x(7);
d = arma::zeros(new_data.sat_number, 1); d = arma::zeros(new_data.sat_number, 1);
rho_pri = arma::zeros(new_data.sat_number, 1); rho_pri = arma::zeros(new_data.sat_number, 1);