daviddoji/Kalman-and-Bayesian-Filters-in-Python
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fixed latex typos.

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Roger Labbe 2015-11-21 14:27:27 -08:00
parent 562cf95a7c
commit 791819d76f
2 changed files with 4 additions and 4 deletions
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4
08-Designing-Kalman-Filters.ipynb
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@ -3323,7 +3323,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"We will use the control input to account for the force of gravity. The term $\\mathbf{Bu}$ is added to $\\mathbf{\bar{x}}$ to account for how much $\\mathbf{\bar{x}}$ changes due to gravity. We can say that $\\mathbf{Bu}$ contains $\\begin{bmatrix}\\Delta x_g & \\Delta \\dot{x_g} & \\Delta y_g & \\Delta \\dot{y_g}\\end{bmatrix}^\\mathsf{T}$.\n",
"We will use the control input to account for the force of gravity. The term $\\mathbf{Bu}$ is added to $\\mathbf{\\bar{x}}$ to account for how much $\\mathbf{\\bar{x}}$ changes due to gravity. We can say that $\\mathbf{Bu}$ contains $\\begin{bmatrix}\\Delta x_g & \\Delta \\dot{x_g} & \\Delta y_g & \\Delta \\dot{y_g}\\end{bmatrix}^\\mathsf{T}$.\n",
"\n",
"If we look at the discretized equations we see that gravity only affect the velocity for $y$.\n",
"\n",
@ -3943,7 +3943,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.4.3"
"version": "3.5.0"
}
},
"nbformat": 4,

4
Appendix-E-Ensemble-Kalman-Filters.ipynb
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@ -356,7 +356,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"$$\\require{autobold}\\boldsymbol\\chi \\sim \\mathcal{N}(\\mathbf{x}_0, \\mathbf{P}_0)$$\n",
"$$\\boldsymbol\\chi \\sim \\mathcal{N}(\\mathbf{x}_0, \\mathbf{P}_0)$$\n",
"\n",
"This says to select the sigma points from the filter's initial mean and covariance. In code this might look like\n",
"\n",
@ -749,7 +749,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.4.3"
"version": "3.5.0"
}
},
"nbformat": 4,