locationd: modify factor for measurement STDEV in gps update (#22262)

* modify factor for measurement STDEV in gps update

* add new ref_commit

selfdrive/locationd/locationd.cc

@@ -261,9 +261,9 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
 
   VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
   VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(3.0 * log.getVerticalAccuracy(), 2)).asDiagonal();
-  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy(), 2)).asDiagonal();
-
+  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
+  
   this->unix_timestamp_millis = log.getTimestamp();
   double gps_est_error = (this->kf->get_x().head(3) - ecef_pos).norm();
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-c66c5414f85cd98ad2dd7a83989e05990851da74
+b575f81975c405417b502479ba15614bc1b3ab9d