From 16e59292fd0e3904abb371cb73f9296d577ec873 Mon Sep 17 00:00:00 2001 From: jdavidberger Date: Tue, 28 Dec 2021 12:39:53 -0700 Subject: [PATCH] Update 11-Extended-Kalman-Filters.ipynb Fixed covariance in control space. It doesn't result in substantially different output. --- 11-Extended-Kalman-Filters.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/11-Extended-Kalman-Filters.ipynb b/11-Extended-Kalman-Filters.ipynb index 59d28d2..80b1a5b 100644 --- a/11-Extended-Kalman-Filters.ipynb +++ b/11-Extended-Kalman-Filters.ipynb @@ -1155,7 +1155,7 @@ " V = array(self.V_j.evalf(subs=self.subs)).astype(float)\n", "\n", " # covariance of motion noise in control space\n", - " M = array([[self.std_vel*u[0]**2, 0], \n", + " M = array([[self.std_vel**2, 0], \n", " [0, self.std_steer**2]])\n", "\n", " self.P = F @ self.P @ F.T + V @ M @ V.T\n",