0

What is a practical way to find process/measurement covariances in EKF? I may have some ground-truth data for this task.

Also, how does non-constant measurement time intervals influence the above covariances?

Alex Kreimer
  • 1,106
  • 2
  • 11
  • 25
  • Could you clarify 'I may have some ground-truth data'? How accurate is that ground-truth? Are you working with real sensor data, or on simulated data? – chtz Oct 05 '17 at 14:09
  • I work with real sensor data. By ground truth I mean some external (accurate) tracker. – Alex Kreimer Oct 08 '17 at 09:25
  • 1
    @AlexKreimer, for measurement covariance matrix, take a look at the datasheet of your sensor. It provides you with the standard deviation. For the process matrix, I don't think there is a way rather than your knowledge about the system. It is a matter of tuning. – CroCo Nov 18 '17 at 05:37

0 Answers0