search

cwrucutter / snowmower_localization

An EFK for the snowmower.
MIT License
1 stars 1 forks source link

Determine covariance matrices for system and measurement models. #35

Open kleinma opened 8 years ago

kleinma commented 8 years ago

https://github.com/cwrucutter/snowmower_localization/blob/1c1ea38bc43369e5d111ad427bd2c815abcef81c/launch/ekf_common_params.yaml#L10

kleinma commented 8 years ago

I increased the decawave noise until it had no noticeable effect. I think increased it by an order of magnitude until it began to fix the drift in the odometry measurement. A lot more can be done here, though.