Changeset 5866 in ntrip


Ignore:
Timestamp:
Aug 8, 2014, 10:53:18 AM (8 years ago)
Author:
mervart
Message:
 
Location:
trunk/BNC/src
Files:
3 edited

Legend:

Unmodified
Added
Removed
  • trunk/BNC/src/PPP/pppFilter.cpp

    r5859 r5866  
    250250      PP(ii,ii) = 1.0 / (Sl(ii,ii) * Sl(ii,ii));
    251251    }
    252     ColumnVector dx;
    253     ColumnVector l1 = ll - AA * _xFlt;
    254     kalman(AA, l1, PP, _QFlt, dx);
    255     _xFlt += dx;
     252    kalman(AA, ll, PP, _QFlt, _xFlt);
    256253
    257254    // Check Residuals
  • trunk/BNC/src/bncutils.cpp

    r5846 r5866  
    566566//////////////////////////////////////////////////////////////////////////////
    567567void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
    568             SymmetricMatrix& QQ, ColumnVector& dx) {
     568            SymmetricMatrix& QQ, ColumnVector& xx) {
    569569
    570570  Tracer tracer("kalman");
     
    595595  SymmetricMatrix Hi; Hi << SHi * SHi.t();
    596596
    597   dx = KT.t() * ll;
     597  xx += KT.t() * (ll - AA * xx);
    598598  QQ << (SS.t() * SS);
    599599}
  • trunk/BNC/src/bncutils.h

    r5807 r5866  
    9797
    9898void         kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
    99                     SymmetricMatrix& QQ, ColumnVector& dx);
     99                    SymmetricMatrix& QQ, ColumnVector& xx);
    100100
    101101#endif
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