Changeset 6168 in ntrip


Ignore:
Timestamp:
Sep 14, 2014, 1:14:01 PM (7 years ago)
Author:
mervart
Message:
 
File:
1 edited

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  • trunk/BNC/src/bncutils.cpp

    r6167 r6168  
    606606//////////////////////////////////////////////////////////////////////////////
    607607void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
    608             SymmetricMatrix& QQ, ColumnVector& dx) {
     608            SymmetricMatrix& QQ, ColumnVector& xx) {
    609609
    610610  Tracer tracer("kalman");
     
    635635  SymmetricMatrix Hi; Hi << SHi * SHi.t();
    636636
    637   xx = KT.t() * (ll - AA * xx);
     637  xx += KT.t() * (ll - AA * xx);
    638638  QQ << (SS.t() * SS);
    639639}
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