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MOD: improve Q weights

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This commit is contained in:
M.A.Gomez 2022-12-11 01:01:20 +00:00
parent 7fdc452715
commit ad50a5b1e7
1 changed files with 11 additions and 6 deletions
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17
src/algorithms/PVT/libs/vtl_engine.cc
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@ -58,7 +58,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
counter = counter+1; //uint64_t counter = counter+1; //uint64_t
cout << "counter" << counter<<endl; cout << "counter" << counter<<endl;
//new_data.kf_state.print("new_data kf initial"); //new_data.kf_state.print("new_data kf initial");
if(counter<3000){ // if(counter<1000){ //
// receiver solution from rtklib_solver // receiver solution from rtklib_solver
kf_x(0) = new_data.rx_p(0); kf_x(0) = new_data.rx_p(0);
kf_x(1) = new_data.rx_p(1); kf_x(1) = new_data.rx_p(1);
@ -84,11 +84,16 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
kf_P_x=new_data.kf_P; kf_P_x=new_data.kf_P;
} }
// State error Covariance Matrix Q (PVT) // State error Covariance Matrix Q (PVT)
// for (int32_t i = 0; i < 8; i++) //careful, values for V and T could not be adecuate.
// { kf_Q(0,0) = 100.0;
// // It is diagonal 8x8 matrix kf_Q(1,1) = 100.0;
// kf_Q(i, i) = 1.0;//new_data.rx_pvt_var(i); //careful, values for V and T could not be adecuate. kf_Q(2,2) = 100.0;
// } kf_Q(3,3) = 10.0;
kf_Q(4,4) = 10.0;
kf_Q(5,5) = 10.0;
kf_Q(6,6) = 40.0;
kf_Q(7,7) = 1500.0;
// Measurement error Covariance Matrix R assembling // Measurement error Covariance Matrix R assembling
for (int32_t i = 0; i < new_data.sat_number; i++) for (int32_t i = 0; i < new_data.sat_number; i++)
{ {