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ADD: Necessary variables for KF

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This commit is contained in:
M.A.Gomez 2022-10-09 22:36:40 +00:00
parent e9aa46fc58
commit b9394bd79d
1 changed files with 21 additions and 2 deletions
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23
src/algorithms/PVT/libs/vtl_engine.h
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@ -50,11 +50,30 @@ public:
private: private:
Vtl_Conf config; Vtl_Conf config;
//TODO: Internal VTL persistent variables here //TODO: Internal VTL persistent variables here
// Kalman filter variables
//State variables
double x_u;
double y_u;
double z_u;
double xDot_u;
double yDot_u;
double zDot_u;
double cdeltat_u;
double cdeltatDot_u;
// Transformation variables
arma::colvec d;
arma::colvec rho_pri;
arma::colvec rhoDot_pri;
arma::colvec a_x;
arma::colvec a_y;
arma::colvec a_z;
// Kalman filter matrices
arma::mat kf_P_x_ini; // initial state error covariance matrix arma::mat kf_P_x_ini; // initial state error covariance matrix
arma::mat kf_P_x; // state error covariance matrix arma::mat kf_P_x; // state error covariance matrix
arma::mat kf_P_x_pre; // Predicted state error covariance matrix arma::mat kf_P_x_pre; // Predicted state error covariance matrix
arma::mat kf_P_y; // innovation covariance matrix arma::mat kf_S; // innovation covariance matrix
arma::mat kf_F; // state transition matrix arma::mat kf_F; // state transition matrix
arma::mat kf_H; // system matrix arma::mat kf_H; // system matrix