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FIX: code error reset bug

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This commit is contained in:
miguel 2023-01-03 11:51:29 +01:00
parent 1266127802
commit aa07ba17fd
1 changed files with 2 additions and 2 deletions
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4
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
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@ -1216,7 +1216,7 @@ void kf_tracking::run_Kf()
// Kalman loop // Kalman loop
// Prediction // Prediction
d_x_old_old(0)=0; // reset error estimation because the NCO corrects the code phase //d_x_old_old(0)=0; // reset error estimation because the NCO corrects the code phase
d_x_new_old = d_F * d_x_old_old; d_x_new_old = d_F * d_x_old_old;
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q; d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
@ -1231,7 +1231,7 @@ void kf_tracking::run_Kf()
// new code phase estimation // new code phase estimation
d_code_error_kf_chips = d_x_new_new(0); d_code_error_kf_chips = d_x_new_new(0);
d_x_new_new(0)=0; // reset error estimation because the NCO corrects the code phase
// new carrier phase estimation // new carrier phase estimation
d_carrier_phase_kf_rad = d_x_new_new(1); d_carrier_phase_kf_rad = d_x_new_new(1);