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ADD: matlab file output for trk_cmd proto

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miguekf
2022-12-13 00:07:42 +01:00
parent ea10a52998
commit b2d5705a89
1 changed files with 10 additions and 3 deletions
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13
src/utils/matlab/vtl/kf_prototype.m
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@@ -115,8 +115,6 @@ for t=2:length(navSolution.RX_time)
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u; +(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u;
end end
for chan=1:5 % Measurement matrix H assembling 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) % 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; 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); 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!
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;
% 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 end
% carrier_phase_rads = 0;
% carrier_freq_hz = 0;
% carrier_freq_rate_hz_s = 0;
% code_phase_chips = 0;
end end