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fix: wrong sign in state error correction

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This commit is contained in:
miguekf 2022-12-08 14:01:27 +01:00
parent ce964eea67
commit 92665492bc
1 changed files with 2 additions and 2 deletions
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4
src/algorithms/PVT/libs/vtl_engine.cc
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@ -80,7 +80,7 @@ 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.rx_dts(0); kf_x(6) = new_data.kf_state[6];//new_data.rx_dts(0);
kf_x(7) = new_data.rx_dts(1); kf_x(7) = new_data.rx_dts(1);
kf_P_x=new_data.kf_P; kf_P_x=new_data.kf_P;
@ -175,7 +175,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
kf_S = kf_H * kf_P_x* kf_H.t() + kf_R; // innovation covariance matrix (S) kf_S = kf_H * kf_P_x* kf_H.t() + kf_R; // innovation covariance matrix (S)
kf_K = (kf_P_x * kf_H.t()) * arma::inv(kf_S); // Kalman gain kf_K = (kf_P_x * kf_H.t()) * arma::inv(kf_S); // Kalman gain
kf_xerr = kf_K * (kf_yerr); // Error state estimation kf_xerr = kf_K * (kf_yerr); // Error state estimation
//kf_x = kf_x + kf_xerr; // updated state estimation (a priori + error) kf_x = kf_x - kf_xerr; // updated state estimation (a priori + error)
kf_P_x = (arma::eye(size(kf_P_x)) - kf_K * kf_H) * kf_P_x; // update state estimation error covariance matrix kf_P_x = (arma::eye(size(kf_P_x)) - kf_K * kf_H) * kf_P_x; // update state estimation error covariance matrix
new_data.kf_state=kf_x; //updated state estimation new_data.kf_state=kf_x; //updated state estimation
//new_data.kf_state.print("computed kf_state"); //new_data.kf_state.print("computed kf_state");