In particular the function stateEstimatorUpdateWithTDOA()
What's the meaning of these lines?
Code: Select all
h[STATE_X] = ((x - x1) / d1 - (x - x0) / d0);
h[STATE_Y] = ((y - y1) / d1 - (y - y0) / d0);
h[STATE_Z] = ((z - z1) / d1 - (z - z0) / d0);
The actual measurement is used only to calculate the prediction error, right?
I've seen a couple of papers cited, but I can't find nothing on Time Difference of Arrival estimation.
Thank you!