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MOD: output print signals

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This commit is contained in:
M.A.Gomez 2022-10-20 12:53:41 +02:00
parent 26cf7d1950
commit 90e3a5e1f8
1 changed files with 3 additions and 3 deletions
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6
src/algorithms/PVT/libs/vtl_engine.cc
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@ -74,7 +74,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
}
// // Kalman state prediction (time update)
cout << " KF RTKlib STATE" << kf_x;
kf_x.print(" KF RTKlib STATE");
new_data.kf_state=kf_x;
//kf_x = kf_F * kf_x; // state prediction
kf_P_x= kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction
@ -120,7 +120,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
//rhoDot_pri(i)=(new_data.sat_v(i, 0)-0)*a_x(i)+(new_data.sat_v(i, 1)-0)*a_y(i)+(new_data.sat_v(i, 2)-0)*a_z(i);
}
cout << " V_LOS sat" << rhoDot_pri;
rhoDot_pri.print("V_LOS sat");
kf_H = arma::zeros(2*new_data.sat_number,8);
@ -145,8 +145,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
//rhoDot_pri(i)=(rhoDot_pri(i))/Lambda_GPS_L1;
}
//cout << " KF measurement vector difference" << kf_yerr;
cout << " kf_yerr" << kf_yerr;
//rhoDot_pri.print("DOPPLER stimated [Hz]");
kf_yerr.print("KF measurement vector difference");
for (int32_t i = 0; i < new_data.sat_number; i++) // Measurement error Covariance Matrix R assembling
{