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https://github.com/gnss-sdr/gnss-sdr
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Make clang-format happy
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@ -2,6 +2,7 @@
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* \file pvt_kf.cc
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* \file pvt_kf.cc
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* \brief Kalman Filter for Position and Velocity
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* \brief Kalman Filter for Position and Velocity
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* \author Javier Arribas, 2023. jarribas(at)cttc.es
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* \author Javier Arribas, 2023. jarribas(at)cttc.es
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* \author Miguel Angel Gomez Lopez, 2023. gomezlma(at)inta.es
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*
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*
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*
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*
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* -----------------------------------------------------------------------------
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* -----------------------------------------------------------------------------
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@ -123,15 +124,14 @@ void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v, const arma::vec& res
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{
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{
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if (!d_static)
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if (!d_static)
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{
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{
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// Measurement residuals update
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// Measurement residuals non-static update
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d_R = {{res_pv[0], res_pv[3], res_pv[5], 0.0, 0.0, 0.0},
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d_R = {{res_pv[0], res_pv[3], res_pv[5], 0.0, 0.0, 0.0},
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{res_pv[3], res_pv[1], res_pv[4], 0.0, 0.0, 0.0},
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{res_pv[3], res_pv[1], res_pv[4], 0.0, 0.0, 0.0},
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{res_pv[5], res_pv[4], res_pv[2], 0.0, 0.0, 0.0},
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{res_pv[5], res_pv[4], res_pv[2], 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, res_pv[6], res_pv[9], res_pv[11]},
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{0.0, 0.0, 0.0, res_pv[6], res_pv[9], res_pv[11]},
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{0.0, 0.0, 0.0, res_pv[9], res_pv[7], res_pv[10]},
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{0.0, 0.0, 0.0, res_pv[9], res_pv[7], res_pv[10]},
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{0.0, 0.0, 0.0, res_pv[11], res_pv[10], res_pv[8]}};
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{0.0, 0.0, 0.0, res_pv[11], res_pv[10], res_pv[8]}};
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}
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} // Measurement update
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arma::vec z = arma::join_cols(p, v);
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arma::vec z = arma::join_cols(p, v);
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arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain
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arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain
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@ -2,7 +2,7 @@
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* \file pvt_kf.h
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* \file pvt_kf.h
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* \brief Kalman Filter for Position and Velocity
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* \brief Kalman Filter for Position and Velocity
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* \author Javier Arribas, 2023. jarribas(at)cttc.es
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* \author Javier Arribas, 2023. jarribas(at)cttc.es
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*
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* \author Miguel Angel Gomez Lopez, 2023. gomezlma(at)inta.es
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*
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*
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* -----------------------------------------------------------------------------
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* -----------------------------------------------------------------------------
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*
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*
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