daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Update 11-Extended-Kalman-Filters.ipynb

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Fixed covariance in control space. It doesn't result in substantially different output.
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jdavidberger 2021-12-28 12:39:53 -07:00 committed by GitHub
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commit 16e59292fd
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11-Extended-Kalman-Filters.ipynb
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@ -1155,7 +1155,7 @@
" V = array(self.V_j.evalf(subs=self.subs)).astype(float)\n",
"\n",
" # covariance of motion noise in control space\n",
" M = array([[self.std_vel*u[0]**2, 0], \n",
" M = array([[self.std_vel**2, 0], \n",
" [0, self.std_steer**2]])\n",
"\n",
" self.P = F @ self.P @ F.T + V @ M @ V.T\n",