CS545_homework_4

Id zero mean gaussian noise the covariance of the

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: un-modeled pivot friction, rod mass, air resistance), which is a 2×1 vector of independently and identically distributed (i.i.d) zero-mean Gaussian noise. The covariance of the process noise is Q = cov η = [0.0320, 0; 0, 0.0008] . The rod length ! = 2(!), gravitational acceleration! = 9.8 (m/s ! ), a) Write down the general formula of the Kalman Filter time update equations for state X and covariance P, and briefly explain each term of the equations. b) Using equation (1), simulate the st...
View Full Document

This homework help was uploaded on 02/14/2014 for the course CSCI 545 taught by Professor Schaal during the Spring '08 term at USC.

Ask a homework question - tutors are online