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MOD: MATLAB file doppler correction with time derivative of clk_drift

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miguekf 2022-12-19 18:46:54 +01:00
parent 82ef7cd6e5
commit 9b9b195509
2 changed files with 8 additions and 2 deletions
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6
src/utils/matlab/vtl/kf_prototype.m
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@ -199,7 +199,13 @@ for t=2:length(navSolution.RX_time)
pr_m_filt(chan,t)=sat_prg_m(chan,t)+kf_yerr_g(chan,t);% now filtered pr_m_filt(chan,t)=sat_prg_m(chan,t)+kf_yerr_g(chan,t);% now filtered
rhoDot_pri_filt(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+corr_kf_state(8,t))-kf_yerr_g(chan+sat_number,t); rhoDot_pri_filt(chan,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+corr_kf_state(8,t))-kf_yerr_g(chan+sat_number,t);
%convert rhoDot_pri to doppler shift! %convert rhoDot_pri to doppler shift!
d_dt_clk_drift=(corr_kf_state(8,t)-corr_kf_state(8,t-1));
if (t<length(navSolution.RX_time)-point_of_closure)
sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1; sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1;
else
sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t)-d_dt_clk_drift)/Lambda_GPS_L1;
end
% carrier_phase_rads = 0; % carrier_phase_rads = 0;
carrier_freq_hz =GPS_L1_freq_hz+sat_dopp_hz_filt(chan,t); carrier_freq_hz =GPS_L1_freq_hz+sat_dopp_hz_filt(chan,t);

2
src/utils/matlab/vtl/vtl_prototype.m
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@ -24,7 +24,7 @@ clearvars
SPEED_OF_LIGHT_M_S=299792458.0; SPEED_OF_LIGHT_M_S=299792458.0;
Lambda_GPS_L1=0.1902937; Lambda_GPS_L1=0.1902937;
GPS_L1_freq_hz=1575.42e6; GPS_L1_freq_hz=1575.42e6;
point_of_closure=3400; point_of_closure=4060;
%% ==================== VARIANCES ============================= %% ==================== VARIANCES =============================
pos_var=100;%m^2 pos_var=100;%m^2