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function ddr = tropo(sinel,hsta,p,tkel,hum,hp,htkel,hhum) %TROPO Calculation of tropospheric correction. % The range correction ddr in m is to be subtracted from % pseudo-ranges and ca

function ddr = tropo(sinel,hsta,p,tkel,hum,hp,htkel,hhum) %TROPO Calculation of tropospheric correction. % The range correction ddr in m is to be subtracted from % pseudo-ranges and ca

plot(xyreal(1,1:2:14),xyreal(3,1:2:14),'r*-') hold on plot(xyreal(1,2:2:14),xyreal(3,2:2:14),'r*-') hold on plot(x_init(1,1:7),x_init(4,1:7),'g*-') hold on plot(x_init(1,8:14),x_init(4,8:14)

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function [y] = ukf_hfun(x,u,n,t); % PURPOSE : Measurement model function fpr UKF. % INPUTS : - x: Hidden state % : - u: control vector % - n: Measurement noise % - t

function ddr = tropo(sinel,hsta,p,tkel,hum,hp,htkel,hhum) %TROPO Calculation of tropospheric correction. % The range correction ddr in m is to be subtracted from % pseudo-ranges and ca

function [y] = ukf_hfun(x,u,n,t); % PURPOSE : Measurement model function fpr UKF. % INPUTS : - x: Hidden state % : - u: control vector % - n: Measurement noise % - t

#include "kalman.h" #include /* tester de printer toutes les valeurs des vecteurs...*/ /* tester de changer les matrices du noises */ /* replace state by cvkalman->state_post ??? */

#include "kalman.h" #include /* tester de printer toutes les valeurs des vecteurs...*/ /* tester de changer les matrices du noises */ /* replace state by cvkalman->state_post ??? */

% NLOS mitigation based on Huber M estimation % 2007.3.18 % written by Tang Hong % IEEE Trans. On signal processing,vol47,No.4, 1999 % " robust Huber adaptive filter" % clc; clear;