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MOD: add vtlEKF time update and corrected pseudoranges

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M.A.Gomez 2022-10-23 15:12:44 +00:00
parent 90e3a5e1f8
commit d03d94116f
2 changed files with 3 additions and 3 deletions
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4
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1117,11 +1117,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
new_vtl_data.sat_health_flag(n) = svh.at(n); new_vtl_data.sat_health_flag(n) = svh.at(n);
new_vtl_data.sat_CN0_dB_hz(n) = d_obs_data.at(n).SNR[0]; new_vtl_data.sat_CN0_dB_hz(n) = d_obs_data.at(n).SNR[0];
// TODO: first version of VTL works only with ONE frequency band (band #0 is L1) // TODO: first version of VTL works only with ONE frequency band (band #0 is L1)
new_vtl_data.pr_m(n) = d_obs_data.at(n).P[0]; //RAW pseudoranges //new_vtl_data.pr_m(n) = d_obs_data.at(n).P[0]; //RAW pseudoranges
//To.Do: check it VTL uses all the information as in rtklib rescode function: v[nv] = P - (r + dtr - SPEED_OF_LIGHT_M_S * dts[i * 2] + dion + dtrp); //To.Do: check it VTL uses all the information as in rtklib rescode function: v[nv] = P - (r + dtr - SPEED_OF_LIGHT_M_S * dts[i * 2] + dion + dtrp);
//corrected pr with code bias, iono and tropo. Still needs the dtr(rx clock bias) and satellite clock bias (dts) //corrected pr with code bias, iono and tropo. Still needs the dtr(rx clock bias) and satellite clock bias (dts)
//cout<<"dtr "<<rx_position_and_time[3]*SPEED_OF_LIGHT_M_S<<"m"; //cout<<"dtr "<<rx_position_and_time[3]*SPEED_OF_LIGHT_M_S<<"m";
//new_vtl_data.pr_m(n) = pr_corrected_code_bias_vec[n] - tropo_vec[n] - iono_vec[n]+SPEED_OF_LIGHT_M_S * dts[n * 2]; new_vtl_data.pr_m(n) = pr_corrected_code_bias_vec[n] - tropo_vec[n] - iono_vec[n]+SPEED_OF_LIGHT_M_S * dts[n * 2];
new_vtl_data.doppler_hz(n) = d_obs_data.at(n).D[0]; new_vtl_data.doppler_hz(n) = d_obs_data.at(n).D[0];
new_vtl_data.carrier_phase_rads(n) = d_obs_data.at(n).L[0]; new_vtl_data.carrier_phase_rads(n) = d_obs_data.at(n).L[0];
} }

2
src/algorithms/PVT/libs/vtl_engine.cc
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@ -76,7 +76,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
// // Kalman state prediction (time update) // // Kalman state prediction (time update)
kf_x.print(" KF RTKlib STATE"); kf_x.print(" KF RTKlib STATE");
new_data.kf_state=kf_x; new_data.kf_state=kf_x;
//kf_x = kf_F * kf_x; // state prediction kf_x = kf_F * kf_x; // state prediction
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
// cout << " KF priori STATE diference" << kf_x-new_data.kf_state; // cout << " KF priori STATE diference" << kf_x-new_data.kf_state;
//from error state variables to variables //from error state variables to variables