Submitted by - Vishal Rangras
The goals for this project are to:
- Initialize the UKF.
- Tune the process noise.
- Generate the Augmented Sigma Points.
- Predict Sigma Points.
- Predict State Mean Vector and Process Covariance Matrix.
- Update the State using Laser and Radar Measurement.
- Compute Cross Relation Matrix and Kalman Gain.
- Compute NIS for state prediction after update step.
- Calculate RMSE for px, py, vx and vy.
Rubric Points
- Clone this repo.
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- On windows, you may need to run:
cmake .. -G "Unix Makefiles" && make
- On windows, you may need to run:
- Run it:
./UnscentedKF
- See the results in Simulator
R 1 | R 2 | R 3 | R 4 | R 5 | R 6 | |
---|---|---|---|---|---|---|
P_(1,1) | 1 | 1 | 1 | 0.15 | 0.15 | 0.15 |
P_(2,2) | 1 | 1 | 1 | 0.15 | 0.15 | 0.15 |
std_a_ | 30 | 3 | 3 | 3 | 3 | 3 |
std_yawdd_ | 30 | 3 | 0.3 | 0.3 | 0.3 | 0.3 |
radar | true | true | true | true | false | true |
laser | true | true | true | true | true | false |
px | 0.0965 | 0.0775 | 0.0800 | 0.0786 | 0.2356 | 2.0519 |
py | 0.1202 | 0.0909 | 0.0878 | 0.0851 | 0.1590 | 1.4467 |
vx | 0.8101 | 0.3631 | 0.3449 | 0.3307 | 3.6168 | 2.2104 |
vy | 1.0176 | 0.4410 | 0.4045 | 0.3067 | 3.4144 | 3.1160 |
P. S. : The letter R
stands for Reading
in the column names of above table.