daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Kloppenburg Ernst (CR/PJ-AI-R4) 2019-02-19 17:08:33 +01:00
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10-Unscented-Kalman-Filter.ipynb
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"\n",
"With that done we are now ready to implement the UKF. I want to point out that when I designed this filter I did not just design all of functions above in one sitting, from scratch. I put together a basic UKF with predefined landmarks, verified it worked, then started filling in the pieces. \"What if I see different landmarks?\" That lead me to change the measurement function to accept an array of landmarks. \"How do I deal with computing the residual of angles?\" This led me to write the angle normalization code. \"What is the *mean* of a set of angles?\" I searched on the internet, found an article on Wikipedia, and implemented that algorithm. Do not be daunted. Design what you can, then ask questions and solve them, one by one.\n",
"\n",
"You've seen the UKF implemention already, so I will not describe it in detail. There are two new thing here. When we construct the sigma points and filter we have to provide it the functions that we have written to compute the residuals and means.\n",
"You've seen the UKF implemention already, so I will not describe it in detail. There are two new things here. When we construct the sigma points and filter we have to provide it the functions that we have written to compute the residuals and means.\n",
"\n",
"```python\n",
"points = SigmaPoints(n=3, alpha=.00001, beta=2, kappa=0, \n",