Comments (7)
Hello. Thank you for interesting in our project.
You are definitely right about covariance matrix Q.
We have this :
double velDev = accDev * m_predictCount;
double posDev = velDev * m_predictCount / 2;
double covDev = velDev * posDev;
double posSig = posDev * posDev;
double velSig = velDev * velDev;
double Q[] = {
posSig, 0.0, covDev, 0.0,
0.0, posSig, 0.0, covDev,
0.0, 0.0, velSig, 0.0,
0.0, 0.0, 0.0, velSig
};
As you said, posSig should be posSigX and posSigY, but we can get speed measurements only from GPS receiver, so for both directions we have one deviation. That's why we use 1 value.
from mad-location-manager.
That's not what I meant. The off-diagonal values of Q are the cross covariance values. As everything is real in this scenario, the matrix must be symmetric (with respect tot he man diagonal). Thus the matrix should be:
double Q[] = {
posSig, 0.0, covDev, 0.0,
0.0, posSig, 0.0, covDev,
covDev, 0.0, velSig, 0.0,
0.0, covDev, 0.0, velSig
};
with two additional covDev values instead of two of the zeros in the lower part of the matrix.
from mad-location-manager.
I see now ))) Will try it today 👍
from mad-location-manager.
Thank you ))
from mad-location-manager.
Hi,
Saw that you uploaded a new version a couple of days ago.
The matrix Q in GPSAccKalmanFilter.java is still non-symmetric.
Wanted to know if there was a problem when one changes it to be symmetric?
Thanks,
Ronit
from mad-location-manager.
Hello.
I didn't upload anything yet. Version is still 0.1.11 :)
from mad-location-manager.
OK. Thanks!
from mad-location-manager.
Related Issues (20)
- for gps accuracy
- Sensor calibration needed ? HOT 3
- gpsacckalmanfilter tutorial video ? HOT 1
- Demo App crashes with GPS Provider
- URGENT HELP HOT 5
- crash with deprecated api GPSStatus in "onStop()" method GPSLocationProvider file
- Maven Plugin doesn't work with Gradle 7.2 on Android Studio
- Doesn't work with Gradle 7.1.3
- Demo app crash
- Android location manager does not handle sensors ? HOT 1
- Фильтр Калмана не работает ожидаемым образом HOT 3
- questions on some logic used in code HOT 1
- Need help for starting demo app HOT 2
- Old device without sensors TYPE_ROTATION_VECTOR, TYPE_LINEAR_ACCELERATION HOT 4
- GPSAccKalmanFilter HOT 2
- Trouble updating mapbox sdk version HOT 1
- Kalman location service started location random coords HOT 2
- The Kalman filter doesn't work when I walk backwards
- GPS errors/jumps
- It can be used for count step?
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