Scale process noise covariance #130
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This scales the process noise covariance pose by the norm of the current state velocity. A new parameter `velocity_norm_min` is added, that prevents the process noise scaling from setting the pose components to zero or a very small value that could lead to NaN or a rank deficient Jacobian in the problem solved, due to an ill-condition covariance for the process noise.
svwilliams
approved these changes
Jan 17, 2020
fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h
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ayrton04
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Jan 17, 2020
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This scales the process noise covariance pose by the norm of the current
state velocity.
A new parameter
velocity_norm_minis added, that prevents the processnoise scaling from setting the pose components to zero or a very small
value that could lead to NaN or a rank deficient Jacobian in the problem
solved, due to an ill-condition covariance for the process noise.