search

JuliaGNSS / KalmanFilters.jl

Various Kalman Filters: KF, UKF, AUKF and their Square root variant
Other
41 stars 6 forks source link

calc_innovation! fails with broadcast errors for mxn H matrix #6

Closed zagglez closed 1 year ago

zagglez commented 2 years ago

Following: https://www.kalmanfilter.net/multiExamples.html - 6 states, 2 measurements.

H = [ 1 0 0 0 0 0 0 0 0 1 0 0 ]
ie, a 2x6 matrix.

OK so with the normal linear KF, everything works fine.

However, the inplace version of calc_innovation, ie calc_innovation! errors with: DimensionMismatch("cannot broadcast array to have fewer non-singleton dimensions")

zsoerenm commented 2 years ago

Could you provide a minimum working example?

zsoerenm commented 1 year ago

I have made some changes. So this might work now. I will close this. Feel free to re-open the issue, if it doesn't work for you.