Compute Kálmán filter chi2 from predicted state #1185
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This comment was marked as outdated.
This comment was marked as outdated.
stephenswat
force-pushed
the
perf/predicted_chi2
branch
2 times, most recently
from
5e9cc3c to
cdef1e9
Compare
This comment was marked as outdated.
This comment was marked as outdated.
This commit migrates the computation of the chi2 value in our gain matrix updater to use the predicted state rather than the filtered state. This is mathematically equivalent but potentially more stable.
stephenswat
force-pushed
the
perf/predicted_chi2
branch
from
cdef1e9 to
be88ea1
Compare
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This commit migrates the computation of the chi2 value in our gain matrix updater to use the predicted state rather than the filtered state. This is mathematically equivalent but potentially more stable.