Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Improve state estimation (particularly during DVL beam failures) #321

Open
RustyBamboo opened this issue Mar 19, 2018 · 1 comment
Open

Improve state estimation (particularly during DVL beam failures) #321

RustyBamboo opened this issue Mar 19, 2018 · 1 comment
Labels
ready

Comments

@RustyBamboo
Copy link
Member

We rely mostly on the DVL to return good pings in order to obtain a state estimation. This can result signifcant state drifts if the pings are not good... So a potential solution is to dynamically set coefficents in the kalman filter to vary the trust.
@kev-the-dev kev-the-dev changed the title Look into the state estimation kalman filter Improve state esimation (particularly during DVL beam failures) Jan 22, 2019
@kev-the-dev
Copy link
Contributor

Hijacking this ticket as a meta ticket for various ways to improve state estimation.

From reading the KF code and speaking with Forest, it DOES seem DVL beam loses are handled correctly.

@kev-the-dev kev-the-dev changed the title Improve state esimation (particularly during DVL beam failures) Improve state estimation (particularly during DVL beam failures) Feb 22, 2019
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
ready
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@LucasBA @kev-the-dev @RustyBamboo