diff options
| author | DaMichel <mw.pub@welter-4d.de> | 2016-07-22 09:12:26 +0200 |
|---|---|---|
| committer | DaMichel <mw.pub@welter-4d.de> | 2016-07-22 09:12:26 +0200 |
| commit | 5afa60dc91cff9f88af42193e46119536b65bcef (patch) | |
| tree | b90d86afe070e67bd749b83b329bbcce4c215c43 | |
| parent | e824352d75e830de81a6cd893f3f3edc317c2dc2 (diff) | |
oops
| -rw-r--r-- | filter-kalman/kalman_simulation.py | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/filter-kalman/kalman_simulation.py b/filter-kalman/kalman_simulation.py index 011349ec..3e792212 100644 --- a/filter-kalman/kalman_simulation.py +++ b/filter-kalman/kalman_simulation.py @@ -61,7 +61,7 @@ for k in range(1,N): # measurement update K[k] = Pminus[k] * H.T * np.linalg.inv( H * Pminus[k] * H.T + R ) xhat[k] = xhatminus[k] + K[k] * (measurement[k] - H * xhatminus[k]) - P[k] = ( I - K[k] ) * Pminus[k] + P[k] = ( I - K[k]*H ) * Pminus[k] t = np.arange(N) * dt plt.figure() @@ -73,4 +73,4 @@ plt.plot(t, x, 'r-', label='ground truth') plt.subplot(2,1,2) plt.plot(t, xhat[:,1,0],'g-',label='velocity estimate') -plt.show()
\ No newline at end of file +plt.show() |