Kalman dops

[ZiglioUK]

Question for @ege010 , any special reason why there's a set of dops specific to the Kalman Filter?
See RoverPosition:

/** Kalman-derived position dilution of precision (KPDOP) */
double kpDop; 

/** Kalman-derived horizontal dilution of precision (KHDOP) */
double khDop; 

/** Kalman-derived vertical dilution of precision (KVDOP) */
double kvDop; 

Also, do we need a dopType?

  private int dopType = DOP_TYPE_NONE;
  public final static int DOP_TYPE_NONE = 0;
  public final static int DOP_TYPE_STANDARD = 1; /* Standard DOP values (satellite geometry only) */
  public final static int DOP_TYPE_KALMAN = 2; /* Kalman DOP values (KDOP), based on the Kalman filter error covariance matrix */

[ege010]

It was a feature we introduced for a specific study we carried out some years ago with @nro2dai :
https://www.researchgate.net/publication/256841864_Integrating_low-cost_RTK_positioning_services_with_a_web-based_track_log_management_system

They are not really standard, but it could be useful to have indices that summarize the Kalman filter estimation error.

[ZiglioUK]

Ok, we'd better keep it then.

Another question: why is a special Adop matrix for dop computation created for the LS_DD_code case but not for other DD cases?

[ege010]

That's a good question! :)
We should check which approach is correct, i.e. whether to include the pivot component or not...