Extended Kalman Filter Jacobian

4 visualizzazioni (ultimi 30 giorni)
Sigalit
Sigalit il 24 Lug 2014
Risposto: John Petersen il 28 Lug 2014
Hello!
The non linearity of my EKF implementation evolves mainly from coordinate conversions (ECEF, LLA, and more). As far as I have checked, the numeric derivation of these conversions (for the sake of yielding the Jacobian) is sufficiently fast and accurate. Is there a known limitation for this numeric solution relative to the analytic one? Is it customary to use numeric derivation for EKF or is the analytic one preffered?
Thank you!

Accedi per rispondere a questa domanda.

Risposta accettata

John Petersen
John Petersen il 28 Lug 2014
I would suggest you do the coordinate conversions outside of the EKF equations. Can you stay in a local coordinate frame within the EKF equations?

Più risposte (0)

Categorie

Scopri di più su State-Space Control Design and Estimation in Help Center e File Exchange

Tag

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by