Hello,
I am doing Kinematic between base (LLH = 44.434828231 12.300198659 45.9096) and
rover.The rover has 4Hz.The base has normally 0.2 Hz rate, but across midnight
experiences a gap of about 90 seconds.So the age of differential correctly
grows and solution goes from 1 (fix) to 5 (single).However when the base
eventually comes back, a perfectly good set of observations pushes the EKF so
far that AR does not recover anymore.So far I am solving this by adding
memset(rtk->x, 0, rtk->nx*sizeof(double)); /** RESET FLOAT STATES??
*/
in rtkpos.c after
errmsg(rtk,"age of differential error (age=%.1f)\n",rtk->sol.age);
However, my fix looks dirty and the problem should not manifest in the first
place?So far I am guessing the problem is here:
if ((nv=ddres(rtk,nav,dt,xp,Pp,sat,y,e,azel,iu,ir,ns,v,H,R,vflg))<1) {
inside relpos() in rtkpos.c. My feeling is that the age of correction when the
base wakes up is said to be 0.2 seconds when in reality more than 90 have
passed and so the partial derivatives go off scale?Such behavior, if confirmed,
may impair any real-life situation in which base and rover talk unreliably
between each other...
All data are
here:https://www.dropbox.com/s/igwt9jsh8pco1bs/160531n-aann.zip?dl=0
Can anybody comment on this and propose a cleaner fix?
Cheers,Michele
P.S.: This happens with both 2.4.2b11 and 2.4.3b12
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