Kalman filter implemented completely for data in belief state.
Convergence:
The current code tested on grSim converges to an exact velocity of 400 from 0 in about one second. And during converging, the error in position peaked at about 3%.
Potential problems:
The code assigns the x, y velocities of the bot w.r.t to the x, y axes of the field instead of x, y axes of the bot.
Kalman filter implemented completely for data in belief state.
Convergence:
The current code tested on grSim converges to an exact velocity of 400 from 0 in about one second. And during converging, the error in position peaked at about 3%.
Potential problems:
The code assigns the x, y velocities of the bot w.r.t to the x, y axes of the field instead of x, y axes of the bot.