Changeset 5866 in ntrip for trunk/BNC/src/bncutils.cpp

Timestamp:

Aug 8, 2014, 10:53:18 AM (10 years ago)

Author:

mervart

Message:

 

File:

• trunk/BNC/src/bncutils.cpp (modified) (2 diffs)

trunk/BNC/src/bncutils.cpp

@@ -566 +566 @@
 //////////////////////////////////////////////////////////////////////////////
 void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP, 
-            SymmetricMatrix& QQ, ColumnVector& dx) {
+            SymmetricMatrix& QQ, ColumnVector& xx) {
 
   Tracer tracer("kalman");
@@ -595 +595 @@
   SymmetricMatrix Hi; Hi << SHi * SHi.t();
 
-  dx = KT.t() * ll;
+  xx += KT.t() * (ll - AA * xx);
   QQ << (SS.t() * SS);
 }