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alirezaahmadi / KalmanFilter-Vehicle-GNSS-INS

In this project, I implemented a Kalman filter on IMU and GPS data recorded from high accuracy sensors.
MIT License
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Bug in covariance update? #2

Open IshitaTakeshi opened 3 years ago

IshitaTakeshi commented 3 years ago

I think this line should be P_kM1 = P_k;
P_k in line 152 is never used in the current implementation

https://github.com/alirezaahmadi/KalmanFilter-Vehicle-GNSS-INS/blob/master/code/KalmanFilter.m#L160

MathiasPechinger commented 2 years ago

I can confirm this Bug. Thanks @IshitaTakeshi.

alirezaahmadi commented 2 years ago

thanks for bringing up the issue, could anyone of you make a pull request for fixing it?