- improved Kalman test

2020-11-27 19:43:41 +01:00
parent 63e4115db8
commit 9d609df44f
1 changed files with 4 additions and 4 deletions
@@ -104,9 +104,9 @@ if __name__ == '__main__':

 	params = {
 		'dt'	: dt,
-		'var_P'	: 0.1,
+		'var_P'	: 1,
 		'var_Q'	: 0.001,
-		'var_R'	: 0.1
+		'var_R'	: 1
 	}
 	k = Kalman(params)

@@ -121,7 +121,7 @@ if __name__ == '__main__':
 	_seqn = range(0, 2*N)
 	for n in seqn:
 		X = (1, 0)
-		Z = k.process_measurement(X, 0.01)
+		Z = k.process_measurement(X, 0.1)
 		# Kalman.print("Z:", Z)
 		Xp = k.process(Z)

@@ -132,7 +132,7 @@ if __name__ == '__main__':

 	for n in seqn:
 		X = k.process_truth()
-		Z = k.process_measurement((X[0,0], 0), 0.01)
+		Z = k.process_measurement((X[0,0], 0), 0.1)
 		# Kalman.print("Z:", Z)
 		Xp = k.process(Z)