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<p>Hi Michele,</p>
<p>I too have noticed irretrievable recovery after loss of fix eg
base rover communication etc. <br>
</p>
<p>Possible some ideas from rtklibexplorer may help have you tried
his demo3 branch, and other good ideas re recovering from fix and
hold ?</p>
<p>Regards</p>
<p>Anthony<br>
</p>
<br>
<div class="moz-cite-prefix">On 22/06/2016 13:06, Michele Bavaro
wrote:<br>
</div>
<blockquote
cite="mid:383370827.12695839.1466597216689.JavaMail.yahoo@mail.yahoo.com"
type="cite">
<div style="color:#000; background-color:#fff;
font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial,
Lucida Grande, Sans-Serif;font-size:10px">
<div id="yui_3_16_0_ym19_1_1466595974981_3115">Hello,</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115"><br>
</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">I am
doing Kinematic between base (LLH = 44.434828231 12.300198659
45.9096) and rover.</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">The
rover has 4Hz.</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">The
base has normally 0.2 Hz rate, but across midnight experiences
a gap of about 90 seconds.</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">So the
age of differential correctly grows and solution goes from 1
(fix) to 5 (single).</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">However
when the base eventually comes back, a perfectly good set of
observations pushes the EKF so far that AR does not recover
anymore.</div>
<div id="yui_3_16_0_ym19_1_1466595974981_3115" dir="ltr">So far
I am solving this by adding </div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3440"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3440"><font
id="yui_3_16_0_ym19_1_1466595974981_4075" face="Courier New,
courier, monaco, monospace, sans-serif">
memset(rtk->x, 0, rtk->nx*sizeof(double)); /** RESET
FLOAT STATES?? */</font></div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">in <i
id="yui_3_16_0_ym19_1_1466595974981_3762">rtkpos.c</i>
after </div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3482"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3482"><font
id="yui_3_16_0_ym19_1_1466595974981_4051" face="Courier New,
courier, monaco, monospace, sans-serif">
errmsg(rtk,"age of differential error
(age=%.1f)\n",rtk->sol.age);</font></div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">However,
my fix looks dirty and the problem should not manifest in the
first place?</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">So far
I am guessing the problem is here:</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3710"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3710"><font
id="yui_3_16_0_ym19_1_1466595974981_4050" face="Courier
New, courier, monaco, monospace, sans-serif"> if
((nv=ddres(rtk,nav,dt,xp,Pp,sat,y,e,azel,iu,ir,ns,v,H,R,vflg))<1)
{</font></div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3711"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3711">inside
<font face="Courier New, courier, monaco, monospace,
sans-serif">relpos() </font>in <i
id="yui_3_16_0_ym19_1_1466595974981_4049">rtkpos.c</i>. </div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3711">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?</div>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3929">Such
behavior, if confirmed, may impair any real-life situation in
which base and rover talk unreliably between each other...<br
id="yui_3_16_0_ym19_1_1466595974981_3930">
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">All
data are here:</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><a
moz-do-not-send="true"
href="https://www.dropbox.com/s/igwt9jsh8pco1bs/160531n-aann.zip?dl=0"
id="yui_3_16_0_ym19_1_1466595974981_3556"><a class="moz-txt-link-freetext" href="https://www.dropbox.com/s/igwt9jsh8pco1bs/160531n-aann.zip?dl=0">https://www.dropbox.com/s/igwt9jsh8pco1bs/160531n-aann.zip?dl=0</a></a><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">Can
anybody comment on this and propose a cleaner fix?<br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3906"><br
id="yui_3_16_0_ym19_1_1466595974981_3907">
</div>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">Cheers,</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">Michele</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441"><br>
</div>
<div dir="ltr" id="yui_3_16_0_ym19_1_1466595974981_3441">P.S.:
This happens with both 2.4.2b11 and 2.4.3b12</div>
</div>
<br>
<fieldset class="mimeAttachmentHeader"></fieldset>
<br>
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