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[AMR] Fix another pointed out error

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janishutz
2026-07-14 09:07:28 +02:00
parent 8430215e55
commit 9f80889d40
2 changed files with 1 additions and 1 deletions
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electives/amr/autonomous-mobile-robots-cheatsheet.pdf
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electives/amr/parts/03_multi-sensor-estimation/05_kalman-filter.tex
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@@ -12,7 +12,7 @@ $\vec{x}_k = \mat{F}\vec{x}_{k - 1} + \mat{G}\vec{u}_k + \mat{L}\vec{w}_k$ with
\newpage \newpage
\begin{itemize} \begin{itemize}
\item \bi{Meas. residual}: $\vec{y}_k = \tilde{\vec{z}}_k - \mat{H} \hat{\vec{x}}_{k | k - 1}$ \item \bi{Meas. residual}: $\vec{y}_k = \tilde{\vec{z}}_k - \mat{H} \hat{\vec{x}}_{k | k - 1}$
\item \bi{Resid. Cov}: $\mat{S}_k = \mat{H}\mat{P}_{k | k - 1} \mat{H}^\top \mat{S}_k^{-1}$ \item \bi{Resid. Cov}: $\mat{S}_k = \mat{H}\mat{P}_{k | k - 1} \mat{H}^\top \mat{R}_k$
\item \bi{Kalman gain}: $\mat{K}_k = \mat{P}_{k | k - 1} \mat{H}^\top \mat{S}_k^{-1}$ \item \bi{Kalman gain}: $\mat{K}_k = \mat{P}_{k | k - 1} \mat{H}^\top \mat{S}_k^{-1}$
\item \bi{Updated mean}: $\hat{\vec{x}}_{k | k} = \hat{\vec{x}}_{k | k - 1} + \mat{K}_k \vec{y}_k$ \item \bi{Updated mean}: $\hat{\vec{x}}_{k | k} = \hat{\vec{x}}_{k | k - 1} + \mat{K}_k \vec{y}_k$
\item \bi{Updated Cov.}: $\mat{P}_{k | k} = (\mat{I} - \mat{K}_k \mat{H}) \mat{P}_{k | k - 1}$ \item \bi{Updated Cov.}: $\mat{P}_{k | k} = (\mat{I} - \mat{K}_k \mat{H}) \mat{P}_{k | k - 1}$