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Hi Tom/all: I'm wondering what the mathmatics formula in ekf.cpp file is. It's the core of EKF. But I got confused when looking through those code. Can somebody enlighten it to me? Thank you so much!
You can read this paper from the authors of the package. But even there it's a bit unclear what the exact state update is. This question contains some details too.
As I understand it they assume a second order model for all calculations and estimate the velocity+acceleration from measurements, they then use the standard EKF update. But I haven't been able to find details on how these motion model parameters are estimated.
Asked: 2017-06-19 20:28:25 -0600
Seen: 297 times
Last updated: Jun 27 '17
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What code are you referring to? Do you have a link?