junshengfu / tracking-with-unscented-kalman-filter Goto Github PK

Thanks for the project and code - very helpful to understand the UKF in detail.

However, it seems that there is something wrong in your application.
I created artificial measurements describing a perfect circle driving round and round infinitely with a radius of 50m.

The UKF is able to stabilize and estimate the state properly (not immediately, took some time, maybe i have to adjust the process noise parameters), but when setting high speeds e.g. 230 km/h, the output velocity "x_(2)" is negative, which doesn't make sense for the amount of speed.

I was investigating your code, but wasn't able to find the root cause for it.
Do you have any idea?

Best regards,
Kerby

Should it be UnscentedKF instead of ExtendedKF?

I'm wondering how you made the images that can display math formulas and a car image. Can you help me?