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MOD: modify matlab kf_prototype clk_drift error compensation

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This commit is contained in:
miguekf 2022-12-21 23:47:57 +01:00
parent 63b777ecbd
commit f7c5723383
1 changed files with 3 additions and 3 deletions
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6
src/utils/matlab/vtl/kf_prototype.m
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@ -122,7 +122,7 @@ for t=2:length(navSolution.RX_time)
rhoDot_pri(chan,t)=(sat_velX(chan,t)-xDot_u)*a_x(chan,t)...
+(sat_velY(chan,t)-yDot_u)*a_y(chan,t)...
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t);
+(sat_velZ(chan,t)-zDot_u)*a_z(chan,t)+cdeltatDot_u;
end
for chan=1:5 % Measurement matrix H assembling
@ -142,9 +142,9 @@ for t=2:length(navSolution.RX_time)
kf_yerr(chan,t)=c_pr_m(chan,t)-sat_prg_m(chan,t);
if (t<length(navSolution.RX_time)-point_of_closure)
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
else
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1+cdeltatDot_u)-rhoDot_pri(chan,t);
else
kf_yerr(chan+sat_number,t)=(sat_dopp_hz(chan,t)*Lambda_GPS_L1)-rhoDot_pri(chan,t);
end
end