Changeset 5866 in ntrip for trunk/BNC/src/bncutils.cpp
- Timestamp:
- Aug 8, 2014, 10:53:18 AM (10 years ago)
- File:
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- 1 edited
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trunk/BNC/src/bncutils.cpp
r5846 r5866 566 566 ////////////////////////////////////////////////////////////////////////////// 567 567 void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP, 568 SymmetricMatrix& QQ, ColumnVector& dx) {568 SymmetricMatrix& QQ, ColumnVector& xx) { 569 569 570 570 Tracer tracer("kalman"); … … 595 595 SymmetricMatrix Hi; Hi << SHi * SHi.t(); 596 596 597 dx = KT.t() * ll;597 xx += KT.t() * (ll - AA * xx); 598 598 QQ << (SS.t() * SS); 599 599 }
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