From a8da7748b16a294dbb83cd9b6ab958caec777332 Mon Sep 17 00:00:00 2001 From: "Kloppenburg Ernst (CR/PJ-AI-R4)" Date: Thu, 16 Nov 2017 09:32:54 +0100 Subject: [PATCH] change variable index in one variant of the measurement equation to disambiguate which variant will be used subsequently --- 08-Designing-Kalman-Filters.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb index 03dca75..9481631 100644 --- a/08-Designing-Kalman-Filters.ipynb +++ b/08-Designing-Kalman-Filters.ipynb @@ -2195,7 +2195,7 @@ "\n", "To make it clearer, suppose that the wheel reports not position but the number of rotations of the wheels, where 1 revolution yields 2 meters of travel. In that case we would write\n", "\n", - "$$ \\begin{bmatrix}z_{wheel} \\\\ z_{ps}\\end{bmatrix} = \\begin{bmatrix}0.5 &0 \\\\ 1& 0\\end{bmatrix} \\begin{bmatrix}x \\\\ \\dot x\\end{bmatrix}$$\n", + "$$ \\begin{bmatrix}z_{rot} \\\\ z_{ps}\\end{bmatrix} = \\begin{bmatrix}0.5 &0 \\\\ 1& 0\\end{bmatrix} \\begin{bmatrix}x \\\\ \\dot x\\end{bmatrix}$$\n", "\n", "Now we have to design the measurement noise matrix $\\mathbf R$. Suppose that the measurement variance for the position is twice the variance of the wheel, and the standard deviation of the wheel is 1.5 meters. That gives us\n", "\n",