daviddoji/Kalman-and-Bayesian-Filters-in-Python
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this was just in text, but I used self.W[i], and it should have been

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self.Wc[i].
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Roger Labbe 2017-05-11 13:20:37 -07:00
parent e82f2184d8
commit 99193f7e26
1 changed files with 1 additions and 1 deletions
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10-Unscented-Kalman-Filter.ipynb
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@ -2449,7 +2449,7 @@
" # compute cross variance of the state and the measurements\n",
" Pxz = np.zeros((self._dim_x, self._dim_z))\n",
" for i in range(self._num_sigmas):\n",
" Pxz += self.W[i] * np.outer(sigmas_f[i] - self.xp,\n",
" Pxz += self.Wc[i] * np.outer(sigmas_f[i] - self.xp,\n",
" sigmas_h[i] - zp)\n",
"\n",
" K = dot(Pxz, inv(Pz)) # Kalman gain\n",