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Better tuning of position KF for moving receivers

This commit is contained in:
Carles Fernandez 2024-01-23 11:07:31 +01:00
parent 84ce3ebc2f
commit 95e6111a46
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2 changed files with 4 additions and 4 deletions
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4
docs/CHANGELOG.md
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@ -61,8 +61,8 @@ All notable changes to GNSS-SDR will be documented in this file.
covariances with the following optional parameters (here with their default
values): `PVT.kf_measures_ecef_pos_sd_m=1.0`, in [m];
`PVT.kf_measures_ecef_vel_sd_ms=0.1`, in [m/s];
`PVT.kf_system_ecef_pos_sd_m=0.01`, in [m]; and
`PVT.kf_system_ecef_vel_sd_ms=0.001`, in [m/s].
`PVT.kf_system_ecef_pos_sd_m=2.0`, in [m]; and
`PVT.kf_system_ecef_vel_sd_ms=0.5`, in [m/s].
### Improvements in Scalability:

4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -78,8 +78,8 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.enable_pvt_kf = configuration->property(role + ".enable_pvt_kf", false);
pvt_output_parameters.measures_ecef_pos_sd_m = configuration->property(role + ".kf_measures_ecef_pos_sd_m", 1.0);
pvt_output_parameters.measures_ecef_vel_sd_ms = configuration->property(role + ".kf_measures_ecef_vel_sd_ms", 0.1);
pvt_output_parameters.system_ecef_pos_sd_m = configuration->property(role + ".kf_system_ecef_pos_sd_m", 0.01);
pvt_output_parameters.system_ecef_vel_sd_ms = configuration->property(role + ".kf_system_ecef_vel_sd_ms", 0.001);
pvt_output_parameters.system_ecef_pos_sd_m = configuration->property(role + ".kf_system_ecef_pos_sd_m", 2.0);
pvt_output_parameters.system_ecef_vel_sd_ms = configuration->property(role + ".kf_system_ecef_vel_sd_ms", 0.5);
// NMEA Printer settings
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);