From ed831606a0abc5a6e85a2726b1f6de4e608cf36f Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Tue, 23 Jan 2024 11:50:08 +0100 Subject: [PATCH] Fix KF parameters --- _sp-blocks/12-pvt.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/_sp-blocks/12-pvt.md b/_sp-blocks/12-pvt.md index 41346857..11d1d1a2 100644 --- a/_sp-blocks/12-pvt.md +++ b/_sp-blocks/12-pvt.md @@ -1175,8 +1175,8 @@ standard and precise positioning. It accepts the following parameters: | `enable_pvt_kf` | [`true`, `false`]: If set to `true`, it enables the Kalman filter of the PVT solution. It defaults to `false`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | | `kf_measures_ecef_pos_sd_m` | Standard deviation of the position estimations, in meters. It defaults to `1.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | | `kf_measures_ecef_vel_sd_ms` | Standard deviation of the velocity estimations, in meters per second. It defaults to `0.1` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_system_ecef_pos_sd_m` | Standard deviation of the dynamic system model for position, in meters. It defaults to `0.01` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | -| `kf_system_ecef_vel_sd_ms` | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.001` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | +| `kf_system_ecef_pos_sd_m` | Standard deviation of the dynamic system model for position, in meters. It defaults to `2.0` [m]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | +| `kf_system_ecef_vel_sd_ms` | Standard deviation of the dynamic system model for velocity, in meters per second. It defaults to `0.5` [m/s]. Only used if `PVT.enable_pvt_kf=true`. This configuration parameter is only present on the `next` branch of the upstream repository, and it will be included in the next stable release of GNSS-SDR. | Optional | | `use_unhealthy_sats` | [`true`, `false`]: If set to `true`, the PVT engine will use observables from satellites flagged as unhealthy in the navigation message. It defaults to `false`, so those observables will be ignored. This feature is present in GNSS-SDR v0.0.18 and later versions. | Optional | | `show_local_time_zone` | [`true`, `false`]: If set to `true`, the time of the PVT solution displayed in the terminal is shown in the local time zone, referred to UTC. It defaults to `false`, so time is shown in UTC. This parameter does not affect time annotations in other output formats, which are always UTC. | Optional | | `rtk_trace_level` | Configure the RTKLIB trace level (`0`: off, up to `5`: max. verbosity). When set to something > `2`, the RTKLIB library become more verbose in the internal logging file. It defaults to `0` (off). | Optional |