mycodebits / term2-udacity-carnd-unscented-kalman-filter-project Goto Github PK
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Implementing the Unscented Kalman filter in C++ for Self Driving cars.
Good job on this project !
But current release seem to have a bug: is_initialized_
variable should be initialized to false
at the beginning of the UKF() creator. Something like this:
// if this is false, the UKF needs to be initialized (first step)
is_initialized_ = false;
Initialization of state vector when using radar measurements seems to mess up from different angles: phi and yaw.
Notice that the following assignations are not correct:
yaw = phi;
double v = meas_package.raw_measurements_[2];
Since yaw is unknown during initialization, the following initialization is proposed:
void UKF::ProcessMeasurement(MeasurementPackage meas_package) {
if (!is_initialized_) {
// Switch between lidar and radar
if (meas_package.sensor_type_ == MeasurementPackage::RADAR) {
double rho = meas_package.raw_measurements_[0];
double phi = meas_package.raw_measurements_[1];
double rhor = meas_package.raw_measurements_[2];
double px = rho * cos(phi);
double py = rho * sin(phi);
double phir = 0.0;
// Following is only true if phir = 0.0. This is a reasonable assumption during initialization
// Note that yaw is not yet known.
double vx = rhor * cos(phi);
double vy = rhor * sin(phi);
double yawd = 0.0;
x_ << px, py, sqrt(vx * vx + vy * vy), atan2(vy, vx), yawd;
} else if (meas_package.sensor_type_ == MeasurementPackage::LASER) {
(...)
}
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