mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-11-15 22:34:58 +00:00
Code Issues Releases Wiki Activity

Refactor: function names

Browse Source
This commit is contained in:
M.A. Gomez 2023-02-12 13:13:29 +01:00
parent 29ddd7eb54
commit bfe05b11b1
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/algorithms/PVT/libs/vtl_engine.cc
View File

@ -162,7 +162,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt); test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt);
// kf_H.print("kf_H diag:"); // kf_H.print("kf_H diag:");
// Kalman estimation (measurement update) // Kalman estimation (measurement update)
test = kf_NLmeasurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, new_data.pr_m, new_data.doppler_hz, kf_x); test = kf_measurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, new_data.pr_m, new_data.doppler_hz, kf_x);
kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction
// kf_P_x.print("a priori P: "); // kf_P_x.print("a priori P: ");
@ -328,7 +328,7 @@ bool Vtl_Engine::obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_pri,arma::colvec
return -1; return -1;
} }
bool Vtl_Engine::kf_NLmeasurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x) bool Vtl_Engine::kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x)
{ {
for (int32_t i = 0; i < sat_number; i++) // Measurement vector for (int32_t i = 0; i < sat_number; i++) // Measurement vector
{ {

2
src/algorithms/PVT/libs/vtl_engine.h
View File

@ -87,7 +87,7 @@ private:
bool kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arma::colvec ay, arma::colvec az, double kf_dt); // Observation Matrix constructor bool kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arma::colvec ay, arma::colvec az, double kf_dt); // Observation Matrix constructor
bool kf_F_fill(arma::mat &kf_F,double kf_dt); // System Matrix constructor bool kf_F_fill(arma::mat &kf_F,double kf_dt); // System Matrix constructor
bool obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_pri,arma::colvec &ax, arma::colvec &ay, arma::colvec &az,int sat_number,arma::mat sat_p,arma::mat sat_v,arma::mat kf_x); // Observables calculation bool obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_pri,arma::colvec &ax, arma::colvec &ay, arma::colvec &az,int sat_number,arma::mat sat_p,arma::mat sat_v,arma::mat kf_x); // Observables calculation
bool kf_NLmeasurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); bool kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x);
}; };
/** \} */ /** \} */