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ADD: Covariance update based on CN0 of the channel

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M.A.Gomez 2023-01-06 17:46:50 +00:00
parent bd013f9a86
commit b314cbf5e7
1 changed files with 10 additions and 5 deletions
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15
src/algorithms/PVT/libs/vtl_engine.cc
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@ -94,9 +94,9 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
kf_Q(0, 0) = 100.0;
kf_Q(1, 1) = 100.0;
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(3, 3) = 8.0;
kf_Q(4, 4) = 8.0;
kf_Q(5, 5) = 8.0;
kf_Q(6, 6) = 100.0;
kf_Q(7, 7) = 40.0;
kf_Q(8, 8) = 1.0;
@ -105,8 +105,13 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
for (int32_t i = 0; i < new_data.sat_number; i++)
{
// It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error)
kf_R(i, i) = 20.0; //TODO: fill with real values.
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 2.0;
kf_R(i, i) = 50.0*50.0/new_data.sat_CN0_dB_hz(i); //TODO: fill with real values.
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 5.0*50.0/new_data.sat_CN0_dB_hz(i);
if(50.0*50.0/new_data.sat_CN0_dB_hz(i)>70||5.0*50.0/new_data.sat_CN0_dB_hz(i)>7){
kf_R(i, i) = 10e4;
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 10e4;
}
}
// Kalman state prediction (time update)