From b2d5705a89c6d26a81f9962261df32ebe5d9bfcc Mon Sep 17 00:00:00 2001 From: miguekf Date: Tue, 13 Dec 2022 00:07:42 +0100 Subject: [PATCH] ADD: matlab file output for trk_cmd proto --- src/utils/matlab/vtl/kf_prototype.m | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/src/utils/matlab/vtl/kf_prototype.m b/src/utils/matlab/vtl/kf_prototype.m index bb46a5e3d..733ff584f 100644 --- a/src/utils/matlab/vtl/kf_prototype.m +++ b/src/utils/matlab/vtl/kf_prototype.m @@ -115,8 +115,6 @@ for t=2:length(navSolution.RX_time) +(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u; end - - for chan=1:5 % Measurement matrix H assembling % It has 8 columns (8 states) and 2*NSat rows (NSat psudorange error;NSat pseudo range rate error) kf_H(chan, 1) = a_x(chan,t); kf_H(chan, 2) = a_y(chan,t); kf_H(chan, 3) = a_z(chan,t); kf_H(chan, 7) = 1.0; @@ -202,6 +200,15 @@ for t=2:length(navSolution.RX_time) 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! sat_dopp_hz_filt(chan,t)=(rhoDot_pri_filt(chan,t)-corr_kf_state(8,t))/Lambda_GPS_L1; - + +% carrier_phase_rads = 0; + carrier_freq_hz =GPS_L1_freq_hz+sat_dopp_hz_filt(chan,t); +% carrier_freq_rate_hz_s = 0; +% code_phase_chips = 0; end + +% carrier_phase_rads = 0; +% carrier_freq_hz = 0; +% carrier_freq_rate_hz_s = 0; +% code_phase_chips = 0; end \ No newline at end of file