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ADD: accelerometer to vtl_engine

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miguekf
2023-03-15 00:51:33 +01:00
parent c2f89e9721
commit 7a271afd45
2 changed files with 2574 additions and 0 deletions
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2572
src/algorithms/PVT/libs/vtl_engine.cc
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src/algorithms/PVT/libs/vtl_engine.h
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@@ -107,7 +107,9 @@ private:
void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x); // Observables calculation void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x); // Observables calculation
void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x);
void model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter); void model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
void accelerometer(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
double EmpujeLkTable(double t_disparo); double EmpujeLkTable(double t_disparo);
double AccLkTable(double t_disparo);
}; };
/** \} */ /** \} */