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Changed initial parameters of gps_fusion

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Andreas Tsouchlos 2022-04-25 02:44:41 +02:00
parent 2de3b361b8
commit f46730fdb3
1 changed files with 3 additions and 3 deletions
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6
examples/gps_fusion.py
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@ -22,7 +22,7 @@ def run(kalman_filter_t):
# Kalman Filter parameter definition
x0 = [100, 50]
P0 = [[10, 0], [0, 5]]
P0 = [[1000, 0], [0, 400]]
H = [[1, 0], [0, 1]]
Q = [[0.2, 0], [0, 2]]
F = [[1, 1], [0, 1]]
@ -61,11 +61,11 @@ def run(kalman_filter_t):
disp.move_object("ground_truth", [x_actual[:, 0][t], 0])
disp.set_circle_radius("ground_truth", 0)
disp = Displayer(width=6, height=6, frame_interval=100)
disp = Displayer(width=6, height=6, frame_interval=150)
disp.set_axis_limits(xlim=[0, 1000], ylim=[-500, 500])
disp.register_object("measurement", "red")
disp.register_object("estimate", "blue")
disp.register_object("ground_truth", "green")
disp.animate(n_steps=n_iterations, anim_callback=update)
disp.animate(n_steps=n_iterations, anim_callback=update)