kshitijgoel007 / AUVForwardDynamics

Dynamic Model of a 6DOF AUV

http://auviitkgp.github.io/

BSD 3-Clause "New" or "Revised" License

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Open aniket11bh opened 7 years ago

aniket11bh commented 7 years ago

To fuse Pressure sensor, change the measurement covariance matrix to diag([999999999 999999999 0.1])
Add options in files which help in choosing the state estimator type, according to 'ekf' or 'ikf'.

TODO

Correct "some error" which is causing the prediction step (without update step & sensor noise) to shoot up to very large numbers.