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MOD vtl_engine

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M.A. Gomez 2024-01-16 19:45:41 +01:00
parent 058540d07b
commit e53f2a14be
2 changed files with 30 additions and 2860 deletions
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2881
src/algorithms/PVT/libs/vtl_engine.cc
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9
src/algorithms/PVT/libs/vtl_engine.h
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@ -103,14 +103,11 @@ private:
uint64_t refSampleCounter; uint64_t refSampleCounter;
double delta_t_cmd = 0; double delta_t_cmd = 0;
void 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 void 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
void kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x); // System Matrix constructor void kf_F_fill_rocket(arma::mat &kf_F, double kf_dt, arma::mat &kf_x); // System Matrix constructor
void kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x); // System Matrix constructor
void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::mat &rhoDot2_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 void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::mat &rhoDot2_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
void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x);
void model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
void accelerometer(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
double EmpujeLkTable(double t_disparo);
double AccLkTable(double t_disparo);
}; };
/** \} */ /** \} */