GNSS HDOP & VDOP integration with insfilterAsync

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Will
Will 2021-4-8
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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Ryan Salvo
Ryan Salvo 2021-4-8
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);
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Will
Will 2021-4-8
Hi Ryan,
This is just what I was looking for, many thanks! I've implemented it and it has improved my pose estimations.

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