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fix notebook

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Atsushi Sakai
2018-11-19 21:21:11 +09:00
parent 8ab87d6677
commit 308019deaa
2 changed files with 7 additions and 8 deletions
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9
Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
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@@ -183,14 +183,13 @@
"\n",
"$y = z - z_{Pred}$\n",
"\n",
"$ S = J_H P_{Pred}.J_H^T + R$\n",
"$S = J_H P_{Pred}.J_H^T + R$\n",
"\n",
"$ K = P_{Pred}.J_H^T S^{-1}$\n",
"$K = P_{Pred}.J_H^T S^{-1}$\n",
"\n",
"$x_{t+1} = x_{Pred} + Ky$\n",
"\n",
"$ x_{t+1} = x_{Pred} + Ky$\n",
"\n",
" $P_{t+1} = ( I - K J_H) P_{Pred} $"
"$P_{t+1} = ( I - K J_H) P_{Pred} $"
]
},
{

6
docs/modules/extended_kalman_filter_localization.rst
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@@ -123,11 +123,11 @@ Localization process using Extendted Kalman Filter:EKF is
:math:`y = z - z_{Pred}`
$ S = J_H P_{Pred}.J_H^T + R$
:math:`S = J_H P_{Pred}.J_H^T + R`
$ K = P_{Pred}.J_H^T S^{-1}$
:math:`K = P_{Pred}.J_H^T S^{-1}`
$ x_{t+1} = x_{Pred} + Ky$
:math:`x_{t+1} = x_{Pred} + Ky`
$P_{t+1} = ( I - K J_H) P_{Pred} $