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FIX: doppler feedback

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This commit is contained in:
M.A. Gomez 2023-05-24 17:23:25 +02:00
parent 948406acfe
commit b68d8c5c7c
2 changed files with 7 additions and 36 deletions
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2
src/algorithms/PVT/libs/vtl_engine.cc
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@ -111,7 +111,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
{
kf_R(i, i) = 80.0;
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 20.0;
kf_R(i + 2 * new_data.sat_number, i + 2 * new_data.sat_number) = 400.0;
kf_R(i + 2 * new_data.sat_number, i + 2 * new_data.sat_number) = 40.0;
if (i == 6)
{

29
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
View File

@ -658,22 +658,7 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
if (cmd->enable_carrier_nco_cmd)
{
if (abs(d_x_old_old(2) - tmp_x(2)) > 50)
{
// std::cout << "channel: " << this->d_channel
// << " tracking_cmd TOO FAR: "
// << abs(d_x_old_old(2) - tmp_x(2)) << "Hz"
// << " \n";
}
else
{
// std::cout << "channel: " << this->d_channel
// << " tracking_cmd NEAR: "
// << abs(d_x_old_old(2) - tmp_x(2)) << "Hz"
// << " \n";
}
d_x_old_old(2) = tmp_x(2); // replace DOPPLER
d_x_old_old(3) = tmp_x(3); //replace DOPPLER RATE
}
else
{
@ -683,20 +668,6 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
// set vtl corrections flag to inform VTL from gnss_synchro object
d_vtl_cmd_applied_now = true;
d_vtl_cmd_samplestamp = cmd->sample_counter;
// std::cout << "CH " << this->d_channel << " RX pvt-to-trk cmd with delay: "
// << static_cast<double>(d_sample_counter - cmd->sample_counter) / d_trk_parameters.fs_in
// << " SampleCounter origin: " << cmd->sample_counter
// << " Doppler new state: " << x_tmp(2) << " vs. trk state: " << old_doppler << " [Hz]"
// << " [s]\n";
// if(cmd->channel_id ==0)
// {
// std::cout << "CH " << cmd->channel_id << " RX pvt-to-trk cmd with delay: "
// << delta_t_s << "[s]"
// << " SampleCounter origin: " << cmd->sample_counter
// << " code phase new state: " << x_tmp(0) << " vs. trk state: " << old_code_phase_chips << " [chips]"
// << "\n";
// std::cout << "use count " <<cmd.use_count()<<"\r";
// }
std::fstream dump_tracking_file;
dump_tracking_file.open("dump_trk_file.csv", std::ios::out | std::ios::app);