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KF Update Glitch

boxmein
Jun 4th, 2017
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  1. P_ =   0.00388014  0.000243731   0.00663182   0.00325461
  2.  0.000243731   0.00614626 -0.000448176    0.0191653
  3.   0.00663182 -0.000448176    0.0664277   0.00739276
  4.   0.00325461    0.0191653   0.00739276     0.131524
  5. Tools::CalculateRMSE
  6. FusionEKF::ProcessMeasurement initialized=1
  7. Radar updates
  8. Tools::CalculateJacobian
  9. EKF update()
  10. x_ = -5.21254
  11.  0.460966
  12. -2.07847
  13. -4.90834
  14. P_ =    0.003888  7.2747e-06  0.00500693   0.0022733
  15.  7.2747e-06  0.00621133 -0.00191196   0.0193883
  16.  0.00500693 -0.00191196    0.045368  0.00145926
  17.   0.0022733   0.0193883  0.00145926    0.132169
  18. Tools::CalculateRMSE
  19. FusionEKF::ProcessMeasurement initialized=1
  20. Laser updates
  21. update()
  22. x_ = -5.28411
  23.  0.227145
  24. -2.02484
  25. -4.85594
  26. P_ =  0.00376121 1.75266e-05  0.00652905  0.00193336
  27. 1.75266e-05  0.00616652  -0.0013411   0.0192784
  28.  0.00652905  -0.0013411    0.065484  0.00236146
  29.  0.00193336   0.0192784  0.00236146    0.131711
  30. Tools::CalculateRMSE
  31. FusionEKF::ProcessMeasurement initialized=1
  32. Radar updates
  33. Tools::CalculateJacobian
  34. EKF update()
  35. x_ = -5.08615
  36.  -8.16182
  37.  2.32487
  38. -30.1465
  39. P_ =   0.00382618 -0.000227168   0.00514923  0.000742879
  40. -0.000227168   0.00624463  -0.00324755    0.0193907
  41.   0.00514923  -0.00324755     0.045845  -0.00713469
  42.  0.000742879    0.0193907  -0.00713469     0.131402
  43. Tools::CalculateRMSE
  44. FusionEKF::ProcessMeasurement initialized=1
  45. Laser updates
  46. update()
  47. x_ = -5.11868
  48.  -7.06835
  49.   1.1623
  50. -22.0684
  51. P_ =   0.00372591 -0.000224032   0.00664266  0.000586292
  52. -0.000224032   0.00618051  -0.00253453    0.0192415
  53.   0.00664266  -0.00253453     0.065576  -0.00426096
  54.  0.000586292    0.0192415  -0.00426096      0.13121
  55. Tools::CalculateRMSE
  56. FusionEKF::ProcessMeasurement initialized=1
  57. Radar updates
  58. Tools::CalculateJacobian
  59. EKF update()
  60. x_ = -5.37446
  61.  -6.02912
  62.  1.84178
  63. -12.0867
  64. P_ =   0.00433141 -0.000337848   0.00985718   0.00012462
  65. -0.000337848    0.0051453  -0.00553238   0.00972938
  66.   0.00985718  -0.00553238    0.0830143   -0.0207812
  67.   0.00012462   0.00972938   -0.0207812    0.0663004
  68. Tools::CalculateRMSE
  69. FusionEKF::ProcessMeasurement initialized=1
  70. Laser updates
  71. update()
  72. x_ = -5.50885
  73.  -5.27233
  74. 0.208881
  75. -9.15389
  76. P_ =   0.00443487 -0.000414139    0.0115775 -0.000483747
  77. -0.000414139   0.00491119  -0.00486887      0.01062
  78.    0.0115775  -0.00486887     0.096595   -0.0173662
  79. -0.000483747      0.01062   -0.0173662    0.0823583
  80. Tools::CalculateRMSE
  81. FusionEKF::ProcessMeasurement initialized=1
  82. Radar updates
  83. Tools::CalculateJacobian
  84. EKF update()
  85. x_ =  -5.70454
  86.  -5.07412
  87. -0.143322
  88.  -6.89906
  89. P_ =   0.00512376 -0.000888264    0.0134283  -0.00346077
  90. -0.000888264   0.00508599  -0.00799972   0.00999099
  91.    0.0134283  -0.00799972    0.0969359   -0.0372382
  92.  -0.00346077   0.00999099   -0.0372382    0.0738293
  93. Tools::CalculateRMSE
  94. FusionEKF::ProcessMeasurement initialized=1
  95. Laser updates
  96. update()
  97. x_ = -5.92275
  98.  -4.51539
  99.  -1.5292
  100.   -4.854
  101. P_ =   0.00512641 -0.000938212    0.0141344  -0.00351597
  102. -0.000938212   0.00486127  -0.00694546    0.0109453
  103.    0.0141344  -0.00694546     0.104558   -0.0294973
  104.  -0.00351597    0.0109453   -0.0294973     0.088568
  105. Tools::CalculateRMSE
  106. FusionEKF::ProcessMeasurement initialized=1
  107. Radar updates
  108. Tools::CalculateJacobian
  109. EKF update()
  110. x_ = -6.14976
  111.  -4.38241
  112. -1.96528
  113. -3.68794
  114. P_ =  0.00559612 -0.00143167   0.0138013 -0.00670101
  115. -0.00143167  0.00539807 -0.00906712   0.0127198
  116.   0.0138013 -0.00906712   0.0907248   -0.046201
  117. -0.00670101   0.0127198   -0.046201   0.0917364
  118. Tools::CalculateRMSE
  119. FusionEKF::ProcessMeasurement initialized=1
  120. Laser updates
  121. update()
  122. x_ = -6.43885
  123.  -3.86138
  124. -3.01495
  125.  -1.8866
  126. P_ =  0.00535738 -0.00136121   0.0137115 -0.00578442
  127. -0.00136121   0.0051804 -0.00761427   0.0132098
  128.   0.0137115 -0.00761427   0.0978569  -0.0346625
  129. -0.00578442   0.0132098  -0.0346625    0.101429
  130. Tools::CalculateRMSE
  131. FusionEKF::ProcessMeasurement initialized=1
  132. Radar updates
  133. Tools::CalculateJacobian
  134. EKF update()
  135. x_ = -6.73687
  136.  -3.71448
  137.  -3.7247
  138. -1.31307
  139. P_ =   0.0055311 -0.00173878   0.0117317 -0.00822467
  140. -0.00173878  0.00594295 -0.00852499   0.0161329
  141.   0.0117317 -0.00852499   0.0758806  -0.0456143
  142. -0.00822467   0.0161329  -0.0456143    0.110302
  143. Tools::CalculateRMSE
  144. FusionEKF::ProcessMeasurement initialized=1
  145. Laser updates
  146. update()
  147. x_ = -6.90217
  148.  -3.40509
  149. -3.93186
  150. -0.32359
  151. P_ =  0.00514456 -0.00153863   0.0116708 -0.00658453
  152. -0.00153863  0.00568103 -0.00697719   0.0158842
  153.   0.0116708 -0.00697719   0.0866848  -0.0332777
  154. -0.00658453   0.0158842  -0.0332777    0.114047
  155. Tools::CalculateRMSE
  156. FusionEKF::ProcessMeasurement initialized=1
  157. Radar updates
  158. Tools::CalculateJacobian
  159. EKF update()
  160. x_ =  -7.16712
  161.  -3.27411
  162.  -4.20574
  163. 0.0899803
  164. P_ =  0.00521142 -0.00183232  0.00954546 -0.00828493
  165. -0.00183232  0.00660649 -0.00740355    0.019157
  166.  0.00954546 -0.00740355   0.0646857  -0.0407085
  167. -0.00828493    0.019157  -0.0407085    0.124006
  168. Tools::CalculateRMSE
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