From aeb57a8698a459b7b6ca1e511ea1a2e79dd4e907 Mon Sep 17 00:00:00 2001 From: "M.A.Gomez" Date: Fri, 7 Oct 2022 21:59:40 +0000 Subject: [PATCH] MOD: vtl_data updated --- src/algorithms/PVT/libs/vtl_data.cc | 7 +++++++ src/algorithms/PVT/libs/vtl_data.h | 4 ++++ 2 files changed, 11 insertions(+) mode change 100644 => 100755 src/algorithms/PVT/libs/vtl_data.cc mode change 100644 => 100755 src/algorithms/PVT/libs/vtl_data.h diff --git a/src/algorithms/PVT/libs/vtl_data.cc b/src/algorithms/PVT/libs/vtl_data.cc old mode 100644 new mode 100755 index 25824b0cf..58b5ebcfe --- a/src/algorithms/PVT/libs/vtl_data.cc +++ b/src/algorithms/PVT/libs/vtl_data.cc @@ -30,9 +30,16 @@ void Vtl_Data::init_storage(int n_sats) sat_dts = arma::mat(n_sats, 2); sat_var = arma::vec(n_sats); sat_health_flag = arma::vec(n_sats); + pr_m = arma::vec(n_sats); doppler_hz = arma::vec(n_sats); carrier_phase_rads = arma::vec(n_sats); + + rx_p = arma::mat(1, 3); + rx_v = arma::mat(1, 3); + rx_dts = arma::mat(1, 2); + rx_var = arma::vec(1); + epoch_tow_s = 0; sample_counter = 0; } diff --git a/src/algorithms/PVT/libs/vtl_data.h b/src/algorithms/PVT/libs/vtl_data.h old mode 100644 new mode 100755 index 8507f6d1d..a35dd7502 --- a/src/algorithms/PVT/libs/vtl_data.h +++ b/src/algorithms/PVT/libs/vtl_data.h @@ -43,6 +43,10 @@ public: arma::vec doppler_hz; // satellite Carrier Dopplers [Hz] arma::vec carrier_phase_rads; // satellite accumulated carrier phases [rads] + arma::mat rx_p; // Receiver ENU Position [m] + arma::mat rx_v; // Receiver Velocity [m/s] + arma::mat rx_dts; // Receiver clock bias and drift [s,s/s] + arma::vec rx_var; // Receiver position and clock error variance [m^2] // time handling double epoch_tow_s; // current observation RX time [s] uint64_t sample_counter; // current sample counter associated with RX time [samples from start]