From 7a4d0a0b30d990bbcacd519a48421dca42a19375 Mon Sep 17 00:00:00 2001 From: Yo Iida Date: Thu, 8 Nov 2018 01:44:21 +0900 Subject: [PATCH] fix Q's definition --- Localization/extended_kalman_filter/extended_kalman_filter.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Localization/extended_kalman_filter/extended_kalman_filter.py b/Localization/extended_kalman_filter/extended_kalman_filter.py index 93a6c9d0..bde58100 100644 --- a/Localization/extended_kalman_filter/extended_kalman_filter.py +++ b/Localization/extended_kalman_filter/extended_kalman_filter.py @@ -11,7 +11,7 @@ import math import matplotlib.pyplot as plt # Estimation parameter of EKF -Q = np.diag([1.0, np.deg2rad(40.0)])**2 +Q = np.diag([1.0, 1.0])**2 R = np.diag([0.1, 0.1, np.deg2rad(1.0), 1.0])**2 # Simulation parameter