mwolfram / carnd-unscented-kalman-filter-project-mwolfram

CarND-Unscented-Kalman-Filter-Project-mwolfram

• There are two functioning main.cpp versions, main.cpp.default and main.cpp.test
• Currently, main.cpp is equal to main.cpp.default and contains the code to run the filter on a given dataset.
• The main.cpp.test version contains a set of test cases to verify the individual steps of the pipeline. This is based on the test data that was used in class for the programming assignments.
• For running main.cpp.test, public access has to be granted to all methods in ukf.h, by simply commenting out line 119.

Results

RMSE

0.0621695
0.0829473
 0.324728
  0.21989

NIS

• 2% of the laser measurements had a higher NIS than 6
• 4.8% of the radar measurements had a higher NIS than 7.8

Settings for process noise

• Process noise standard deviation longitudinal acceleration: 0.6 m/s^2
• Process noise standard deviation yaw acceleration: 0.5 rad/s^2: