GNSS HDOP & VDOP integration with insfilterAsync

Question

Will 2021-4-8

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/796452-gnss-hdop-vdop-integration-with-insfilterasync

评论： Will 2021-4-8

At the bottom of the GNSS Simulation Overview page, it says the following: "The HDOP and VDOP values can be used as diagonal elements in measurement covariance matrices when combining GNSS receiver position estimates with other sensor measurements using a Kalman filter."

I am using a GNSS-IMU insfilterAsync filter for pose/orientation estimations, currently without considering the accuracy of the GNSS signal. I have the HDOP and VDOP values for every GNSS reading, so if I can implement these by updating the measurement covariance matrices, it would be really helpful. However, I can't find out how to do this.

Is anybody able to provide more information about how to do this?

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Answer 1

Ryan Salvo 2021-4-8

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https://ww2.mathworks.cn/matlabcentral/answers/796452-gnss-hdop-vdop-integration-with-insfilterasync#answer_670547

在 MATLAB Online 中打开

Hi WIll,

Here is a simple example showing how you can do this.

Thanks,

Ryan

% Construct filter and GNSS.
filt = insfilterAsync;
gnss = gnssSensor;
% Specify velocity measurement covariance.
Rvel = 0.01^2;
% Specify ground truth position and velocity. 
truePosition = [0 0 0];
trueVelocity = [0 0 0];
% Get new GNSS measurement.
[lla, gnssVel, status] = gnss(truePosition, trueVelocity);
% Construct measurement covariance matrix diagonals.
Rpos = [status.HDOP^2, status.HDOP^2, status.VDOP^2];
% Update filter state. 
fusegps(filt, lla, Rpos, gnssVel, Rvel);