From f7c5723383995620f2261101ac5a51bbea2a1d50 Mon Sep 17 00:00:00 2001
From: miguekf <angel.glopez@alumnos.upm.es>
Date: Wed, 21 Dec 2022 23:47:57 +0100
Subject: [PATCH] MOD: modify matlab kf_prototype clk_drift error compensation

---
 src/utils/matlab/vtl/kf_prototype.m | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/utils/matlab/vtl/kf_prototype.m b/src/utils/matlab/vtl/kf_prototype.m
index b5c04ca0e..836e8ba9c 100644
--- a/src/utils/matlab/vtl/kf_prototype.m
+++ b/src/utils/matlab/vtl/kf_prototype.m
@@ -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