Clean Up

balzer82 · Jul 3, 2014 · 11aaa3b · 11aaa3b
1 parent ee42b19
commit 11aaa3b
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Showing 21 changed files with 30 additions and 14,953 deletions.
diff --git a/.ipynb_checkpoints/Extended-Kalman-Filter-CTRA-checkpoint.ipynb b/.ipynb_checkpoints/Extended-Kalman-Filter-CTRA-checkpoint.ipynb
diff --git a/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-Adaptive-checkpoint.ipynb b/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-Adaptive-checkpoint.ipynb
diff --git a/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-Attitude-checkpoint.ipynb b/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-Attitude-checkpoint.ipynb
diff --git a/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-checkpoint.ipynb b/.ipynb_checkpoints/Extended-Kalman-Filter-CTRV-checkpoint.ipynb
@@ -1,7 +1,7 @@
 {
  "metadata": {
   "name": "",
-  "signature": "sha256:63cbb5d3bf0b681eca810816cbfb5be22c96691a92c7977841d220db5a9a69d2"
+  "signature": "sha256:e7ea6b8644b0254e846567edd2d98fe7aacd32a04adb98054507cc9f4c28ea85"
  },
  "nbformat": 3,
  "nbformat_minor": 0,
@@ -623,7 +623,7 @@
      "cell_type": "code",
      "collapsed": false,
      "input": [
-      "varGPS = 6.0 # Variance of GPS Measurement\n",
+      "varGPS = 6.0 # Standard Deviation of GPS Measurement\n",
       "varspeed = 1.0 # Variance of the speed measurement\n",
       "varyaw = 0.1 # Variance of the yawrate measurement\n",
       "R = np.matrix([[varGPS**2, 0.0, 0.0, 0.0],\n",
@@ -949,12 +949,12 @@
       "                    [float(x[3])],\n",
       "                    [float(x[4])]])\n",
       "\n",
-      "    if GPS[filterstep]:\n",
+      "    if GPS[filterstep]: # with 10Hz, every 5th step\n",
       "        JH = np.matrix([[1.0, 0.0, 0.0, 0.0, 0.0],\n",
       "                        [0.0, 1.0, 0.0, 0.0, 0.0],\n",
       "                        [0.0, 0.0, 0.0, 1.0, 0.0],\n",
       "                        [0.0, 0.0, 0.0, 0.0, 1.0]])\n",
-      "    else:\n",
+      "    else: # every other step\n",
       "        JH = np.matrix([[0.0, 0.0, 0.0, 0.0, 0.0],\n",
       "                        [0.0, 0.0, 0.0, 0.0, 0.0],\n",
       "                        [0.0, 0.0, 0.0, 1.0, 0.0],\n",

diff --git a/Extended-Kalman-Filter-CTRA.ipynb b/Extended-Kalman-Filter-CTRA.ipynb