From 40042570ad7f4aec336f0b87aff8fe267f92c90f Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Tue, 4 Jun 2024 21:59:22 +0200
Subject: [PATCH] Use INVALID gps correction
---
commonFunctions/kalman/correctionGPS.m | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/commonFunctions/kalman/correctionGPS.m b/commonFunctions/kalman/correctionGPS.m
index afdc61a5..50b9376e 100644
--- a/commonFunctions/kalman/correctionGPS.m
+++ b/commonFunctions/kalman/correctionGPS.m
@@ -46,17 +46,17 @@ threshold = 10e-11;
% output of the system multiplied by 1000 to deal with magnitude of order
% of covariance
-H11 = 1000/a;
+H11 = 1/a;
H12 = 0;
-H21 = (1000000*x_pred(2)*sind(1000*lat0 + (1000*x_pred(1))/a))/(a*b*cosd(1000*lat0 + (1000*x_pred(1))/a)^2);
-H22 = 1000/(b*cosd(1000*lat0 + (1000*x_pred(1))/a));
+H21 = (1*x_pred(2)*sind(1*lat0 + (1*x_pred(1))/a))/(a*b*cosd(1*lat0 + (1*x_pred(1))/a)^2);
+H22 = 1/(b*cosd(1*lat0 + (1*x_pred(1))/a));
H = [ H11 H12 0 0 0 0; %Pre-allocation of gradient
H21 H22 0 0 0 0;
0 0 0 1 0 0;
0 0 0 0 1 0;]; %of the output function
-R = sigma_GPS.*[1 1 max(1,vGPS)]; %VARIANCE MATRIX SCALED
+R = sigma_GPS.*[1e-6 1e-6 max(1,vGPS)]; %VARIANCE MATRIX SCALED
%TAKING INTO ACCOUNT
%NUMBER OF SATELITES
%AVAILABLE
--
GitLab