- P_est = 0.003 # Fehlerkovarianz
- Q = 10e-4 # Systemrauschen
- R = 0.1 # Varianz des Messfehlers
- self.filter_x = simple_kalman(1.0, P_est, Q, R)
- self.filter_y = simple_kalman(0.0, P_est, Q, R)
+ # Varianz des Messfehlers
+ Rx = 0.2
+ Ry = 0.05
+ # Fehlerkovarianz
+ P_est_x = 0.02
+ P_est_y = 0.01
+ # Systemrauschen
+ Q = 0.002
+ self.filter_x = simple_kalman(1.0, P_est_x, Q, Rx)
+ self.filter_y = simple_kalman(0.0, P_est_y, Q, Ry)