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Issue #115. Wording error.

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'measuremet' was used; it should have been 'velocity'.
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Roger Labbe 2016-09-12 17:37:50 -07:00
parent c246aa0acb
commit b330aacc4b
1 changed files with 2 additions and 2 deletions
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06-Multivariate-Kalman-Filters.ipynb
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@ -1928,7 +1928,7 @@
"\n",
"Why are we working in measurement space? Why not work in state space by converting the voltage into a temperature, allowing the residual to be a difference in temperature?\n",
"\n",
"We cannot do that because most measurements are not *invertible*. The state for the tracking problem contains the hidden variable $\\dot x$. There is no way to convert a measurement of position into a state containing velocity. On the other hand, it is trivial to convert a state containing position and measurement into a equivalent \"measurement\" containing only position. We have to work in measurement space to make the computation of the residual possible.\n",
"We cannot do that because most measurements are not *invertible*. The state for the tracking problem contains the hidden variable $\\dot x$. There is no way to convert a measurement of position into a state containing velocity. On the other hand, it is trivial to convert a state containing position and velocity into a equivalent \"measurement\" containing only position. We have to work in measurement space to make the computation of the residual possible.\n",
"\n",
"Both the measurement $\\mathbf z$ and state $\\mathbf x$ are vectors so we need to use a matrix to perform the conversion. The Kalman filter equation that performs this step is:\n",
"\n",
@ -23693,7 +23693,7 @@
],
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