- R = np.matrix([[0.045, 0.5], [0.0, 0.008]]) # Varianz des Messfehlers
- P_est = 1e-3 * np.eye(2) # Fehlerkovarianz
- Q = np.matrix([[0.001, 0.0], [0.0, 0.00001]]) # Systemrauschen
+ R = np.matrix([[0.5, 0.0], [0.0, 0.2]]) # Varianz des Messfehlers
+ P_est = 1e50 * np.eye(2) # Fehlerkovarianz
+ Q = np.matrix([[0.001, 0.0], [0.0, 0.0001]]) # Systemrauschen