Merge pull request #88 from decargroup/fix_iekf

recompute R after iters in IEKF
decargroup · Jul 25, 2023 · c0dd762 · c0dd762
2 parents 6e89f8b + f3672ad
commit c0dd762
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/pynav/filters.py b/pynav/filters.py
@@ -418,6 +418,7 @@ def correct(
 
             # Re-evaluate the jacobians at our latest operating point
             G = np.atleast_2d(y.model.jacobian(x_op_jac))
+            R = np.atleast_2d(y.model.covariance(x_op_jac))
             e = x_op.minus(x.state).reshape((-1, 1))
             J = x_op.plus_jacobian(e)
             P = J @ x.covariance @ J.T