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Change tutorial error values to be in the correct units #1265

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Change tutorial error values to be in the correct units #1265

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15f7d93
Change tutorial error values to be in the correct units
csherman-dstl Mar 12, 2026
4a6025b
Increase measurement error in tutorials
csherman-dstl Apr 2, 2026
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2 changes: 1 addition & 1 deletion docs/tutorials/02_ExtendedKalmanFilterTutorial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@
measurement_model = CartesianToBearingRange(
ndim_state=4,
mapping=(0, 2),
noise_covar=np.diag([np.radians(0.2), 1]), # Covariance matrix. 0.2 degree variance in
noise_covar=np.diag([np.radians(5) ** 2, 1]), # Covariance matrix. 5 degree error in
# bearing and 1 metre in range
translation_offset=np.array([[sensor_x], [sensor_y]]) # Offset measurements to location of
# sensor in cartesian.
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6 changes: 3 additions & 3 deletions docs/tutorials/03_UnscentedKalmanFilterTutorial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,10 @@
sensor_x = 50
sensor_y = 0

# Make noisy measurement (with bearing variance = 0.2 degrees).
# Make noisy measurement (with bearing error = 5 degrees).
measurement_model = CartesianToBearingRange(ndim_state=4,
mapping=(0, 2),
noise_covar=np.diag([np.radians(0.2), 1]),
noise_covar=np.diag([np.radians(5) ** 2, 1]),
translation_offset=np.array([[sensor_x], [sensor_y]]))

# %%
Expand Down Expand Up @@ -196,7 +196,7 @@
measurement_model = CartesianToBearingRange(
ndim_state=4,
mapping=(0, 2),
noise_covar=np.diag([np.radians(5), 0.1]), # bearing variance = 5 degrees (accurate range)
noise_covar=np.diag([np.radians(25) ** 2, 0.1]), # bearing error = 25 degrees (accurate range)
translation_offset=np.array([[sensor_x], [sensor_y]])
)

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2 changes: 1 addition & 1 deletion docs/tutorials/04_ParticleFilter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@
measurement_model = CartesianToBearingRange(
ndim_state=4,
mapping=(0, 2),
noise_covar=np.diag([np.radians(0.2), 1]),
noise_covar=np.diag([np.radians(5) ** 2, 1]),
translation_offset=np.array([[sensor_x], [sensor_y]])
)

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