From b330aacc4b8d6bfe414e1adfa168ad77ec397d44 Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Mon, 12 Sep 2016 17:37:50 -0700 Subject: [PATCH] Issue #115. Wording error. 'measuremet' was used; it should have been 'velocity'. --- 06-Multivariate-Kalman-Filters.ipynb | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/06-Multivariate-Kalman-Filters.ipynb b/06-Multivariate-Kalman-Filters.ipynb index e4f82d7..2aaac2c 100644 --- a/06-Multivariate-Kalman-Filters.ipynb +++ b/06-Multivariate-Kalman-Filters.ipynb @@ -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 @@ ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python [default]", "language": "python", "name": "python3" },