F_update with infinity imu.gb_corr or imu.ab_corr about navego HOT 3 CLOSED

Hi River,

Thank you very much for pointing out this issue.

A magnetometer is used as an aiding sensor in NaveGo's framework so far, so only matrices R and H have to be modified. I have corrected NaveGo functions F_update.m and ins_gnss_mag.m accordingly.

If magnetometer bias or noise want to be corrected, then a new state has to be added to states vector x and matrices F and G have to be modified consequently.

I am planning to provide a working example with magnetometer data, so NaveGo community could test the code thoughtfully.

Best regards.

from navego.

Hi, I am glad that I am able to offer tiny help to the community, but I just meant that the variable Fbg should be initialized following line 169: Fgg = Z; which should be similar to lines 171 to 173. So when isinf(imu.gb_corr) returns true, Fbg can still be initialized and used to create matrix G.
The same comment on the variable Fba, which is just next.
Thank you very much,

River

from navego.

Hi River,

Now I understand your point. I was probably trying different formulas for Fbg and Fba. Now these matrices are equal to the identity matrix.

Please, check the last commit and let me now if everything is OK.

Regards.

from navego.