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Add an error-state Kalman filter #79
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enhancementNew feature or requestNew feature or requestestimationFilters and state estimationFilters and state estimationno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc corespatialQuaternions, Lie groups, framesQuaternions, Lie groups, frames
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enhancementNew feature or requestNew feature or requestestimationFilters and state estimationFilters and state estimationno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc corespatialQuaternions, Lie groups, framesQuaternions, Lie groups, frames
Add an error-state KF with the nominal state on SO(3)/SE(3) and the error state and covariance in the tangent space, with an error-injection and reset step.
Done when: the reset round-trips and the filter is consistent on a sample model.
Depends on #26 #77