ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Wed, 04 Jan 2017 02:38:12 -0600Robot_localization ekf vs ukf process noisehttps://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/ Attempting to compare results from both ekf and ukf (ubuntu, indigo). Would one expect to use the same process noise covariance matrix for both? ThanksMon, 05 Dec 2016 11:43:45 -0600https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/Answer by Tom Moore for <p>Attempting to compare results from both ekf and ukf (ubuntu, indigo). Would one expect to use the same process noise covariance matrix for both? Thanks</p>
https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?answer=250312#post-id-250312Both filters use the same process noise covariance matrix parameter. However, I'm guessing what you're asking is whether the output estimate error covariance matrices would be the same for the UKF and EKF. I've never done any analysis, but I would expect them to be similar, but certainly not identical. They use different methods for projecting the state and error covariance matrices forward during prediction.Mon, 19 Dec 2016 03:45:37 -0600https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?answer=250312#post-id-250312Comment by Tom Moore for <p>Both filters use the same process noise covariance matrix parameter. However, I'm guessing what you're asking is whether the output estimate error covariance matrices would be the same for the UKF and EKF. I've never done any analysis, but I would expect them to be similar, but certainly not identical. They use different methods for projecting the state and error covariance matrices forward during prediction.</p>
https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?comment=251237#post-id-251237I'd say that if you use the same `process_noise_covariance` for both/either, then that ought to work.Wed, 04 Jan 2017 02:38:12 -0600https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?comment=251237#post-id-251237Comment by b2256 for <p>Both filters use the same process noise covariance matrix parameter. However, I'm guessing what you're asking is whether the output estimate error covariance matrices would be the same for the UKF and EKF. I've never done any analysis, but I would expect them to be similar, but certainly not identical. They use different methods for projecting the state and error covariance matrices forward during prediction.</p>
https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?comment=250574#post-id-250574Thank you Tom. That verifies my assumptions. Still tuning Q matrix and hoped that effort would apply to both ekf and ukf. Regards.Wed, 21 Dec 2016 13:57:40 -0600https://answers.ros.org/question/249418/robot_localization-ekf-vs-ukf-process-noise/?comment=250574#post-id-250574