From f3672ad84178471b61686f729645ed8ec8071132 Mon Sep 17 00:00:00 2001 From: Phil Decoste Date: Mon, 17 Jul 2023 19:15:57 -0400 Subject: [PATCH] recompute R after iters in IEKF --- pynav/filters.py | 1 + 1 file changed, 1 insertion(+) diff --git a/pynav/filters.py b/pynav/filters.py index 6846f9c5..00c928af 100644 --- 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