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rlabbe / filterpy

Python Kalman filtering and optimal estimation library. Implements Kalman filter, particle filter, Extended Kalman filter, Unscented Kalman filter, g-h (alpha-beta), least squares, H Infinity, smoothers, and more. Has companion book 'Kalman and Bayesian Filters in Python'.
MIT License
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motion model in UKF? #266

Closed HanGuangXin closed 2 years ago

HanGuangXin commented 2 years ago

Hi, there! The filterpy is an amazing package with powerful functions and clear API. Thanks for your hard work!

But in UKF, there may be some motion models to choose from, such as CTRV and CTRA.

Could you please tell me which motion model is used in UKF now, and how to switch to other motion models?

rlabbe commented 2 years ago

It is all documented in my book. https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python

In short, you design your own motion model, it is not built in.