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raimapo / AHRS

Attitude and Heading Reference System using MATLAB as simple as possible
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AHRS\UKF\updateUKF.m: A question about sigma points in UKF #3

Open MMM-L opened 2 years ago

MMM-L commented 2 years ago

Hi! I find a process of sigma points missing before the unscented transformation of measurements? And I also think that there is a error in the last process of the Covariance update ? I can't understand it, can you help me? Excepting your reply. Thanks!

raimapo commented 2 years ago

Hi,

It is a long time since I am not doing anything with it and it is hard to remember all processes. However, Sigma points are calculated in the EulerUKF.m and have a separate function file SigmaPoints.m

If You have ideas on how to improve this Matlab script You can contribute to open source it. I will check and add it to the repository.

MMM-L commented 2 years ago

Hi, Thank you for your reply. I think your codes are great, and I will learn more about the documents of the UKF to understand them.

Hi, It is a long time since I am not doing anything with it and it is hard to remember all processes. However, Sigma points are calculated in the EulerUKF.m and have a separate function file SigmaPoints.m If You have ideas on how to improve this Matlab script You can contribute to open source it. I will check and add it to the repository.