created chapter 10

Chapter10_Unscented_Kalman_Filters/Unscented_Kalman_Filter.ipynb

@@ -1,7 +1,7 @@
 {
  "metadata": {
   "name": "",
-  "signature": "sha256:9cb6305654844522aebd6ab807e2b68b865a7b57f69523ba3d4e85317e6035ad"
+  "signature": "sha256:1cb97d22a87ae9949a15389a2eddc37a6f1666ae331318911586e0cec1af5e32"
  },
  "nbformat": 3,
  "nbformat_minor": 0,
@@ -24,6 +24,8 @@
       "%matplotlib inline\n",
       "from __future__ import division, print_function\n",
       "import matplotlib.pyplot as plt\n",
+      "import sys\n",
+      "sys.path.insert(0,'../') # allow us to format the book\n",
       "import book_format\n",
       "book_format.load_style()"
      ],
@@ -250,7 +252,7 @@
        "output_type": "pyout",
        "prompt_number": 1,
        "text": [
-        "<IPython.core.display.HTML at 0x7f3d30aa40f0>"
+        "<IPython.core.display.HTML at 0x7f4586053a20>"
        ]
       }
      ],
@@ -289,9 +291,9 @@
       {
        "metadata": {},
        "output_type": "display_data",
-       "png": "iVBORw0KGgoAAAANSUhEUgAAAsAAAAGDCAYAAAAlC6awAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
+       "png": "iVBORw0KGgoAAAANSUhEUgAAAsAAAAGDCAYAAAAlC6awAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x7f3d16d504e0>"
+        "<matplotlib.figure.Figure at 0x7f456d00d6a0>"
        ]
       }
      ],
@@ -325,7 +327,7 @@
        "output_type": "display_data",
        "png": "iVBORw0KGgoAAAANSUhEUgAAAqwAAAFdCAYAAADG5D8RAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x7f3d3002f7f0>"
+        "<matplotlib.figure.Figure at 0x7f4586053748>"
        ]
       }
      ],
@@ -377,7 +379,7 @@
        "output_type": "display_data",
        "png": "iVBORw0KGgoAAAANSUhEUgAAAtIAAAF2CAYAAABDD3/PAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x7f3d0f9e4198>"
+        "<matplotlib.figure.Figure at 0x7f4586053470>"
        ]
       }
      ],
@@ -417,7 +419,7 @@
        "output_type": "display_data",
        "png": "iVBORw0KGgoAAAANSUhEUgAAAqwAAAFdCAYAAADG5D8RAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x7f3d0f22a1d0>"
+        "<matplotlib.figure.Figure at 0x7f45654fceb8>"
        ]
       }
      ],
@@ -487,7 +489,7 @@
        "output_type": "display_data",
        "png": "iVBORw0KGgoAAAANSUhEUgAAAtIAAAF2CAYAAABDD3/PAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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 truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x7f3d16914a20>"
+        "<matplotlib.figure.Figure at 0x7f456549d358>"
        ]
       }
      ],