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MOD: kf weights

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This commit is contained in:
M.A.Gomez 2022-12-04 22:19:49 +00:00
parent f14e1bfa28
commit b98826f002
1 changed files with 3 additions and 3 deletions
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6
src/algorithms/PVT/libs/vtl_engine.cc
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@ -35,7 +35,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
// ################## Kalman filter initialization ###################################### // ################## Kalman filter initialization ######################################
// covariances (static) // covariances (static)
kf_P_x = arma::eye(8, 8); //TODO: use a real value. kf_P_x = arma::eye(8, 8)*100.0; //TODO: use a real value.
kf_x = arma::zeros(8, 1); kf_x = arma::zeros(8, 1);
kf_R = arma::zeros(2*new_data.sat_number, 2*new_data.sat_number); kf_R = arma::zeros(2*new_data.sat_number, 2*new_data.sat_number);
double kf_dt=0.1; double kf_dt=0.1;
@ -90,13 +90,13 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
for (int32_t i = 0; i < 8; i++) for (int32_t i = 0; i < 8; i++)
{ {
// It is diagonal 8x8 matrix // It is diagonal 8x8 matrix
kf_Q(i, i) = 50.0;//new_data.rx_pvt_var(i); //careful, values for V and T could not be adecuate. kf_Q(i, i) = 1.0;//new_data.rx_pvt_var(i); //careful, values for V and T could not be adecuate.
} }
// Measurement error Covariance Matrix R assembling // Measurement error Covariance Matrix R assembling
for (int32_t i = 0; i < new_data.sat_number; i++) 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) // It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error)
kf_R(i, i) = 5.0; //TODO: fill with real values. kf_R(i, i) = 40.0; //TODO: fill with real values.
kf_R(i+new_data.sat_number, i+new_data.sat_number) = 10.0; kf_R(i+new_data.sat_number, i+new_data.sat_number) = 10.0;
} }