{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# The Unscented Kalman Filter" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "from __future__ import division, print_function\n", "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "text/html": [ "\n", " \n", " " ], "text/plain": [ "" ] }, "execution_count": 2, "metadata": {}, "output_type": "execute_result" } ], "source": [ "#format the book\n", "import book_format\n", "book_format.set_style()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the last chapter we discussed the difficulties that nonlinear systems pose. This nonlinearity can appear in two places. It can be in our measurements, such as a radar that is measuring the slant range to an object. Slant range requires you to take a square root to compute the x,y coordinates:\n", "\n", "$$x=\\sqrt{\\text{slant}^2 - \\text{altitude}^2}$$\n", "\n", "The nonlinearity can also occur in the process model - we may be tracking a ball traveling through the air, where the effects of air drag lead to nonlinear behavior. The standard Kalman filter performs poorly or not at all with these sorts of problems.\n", "\n", "In the last chapter I showed you a plot like this. I have altered the equation somewhat to emphasize the effects of nonlinearity." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "image/png": "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\n", "text/plain": [ "