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Published 20 hours ago • verified publisher icon rlabbe

Charpter 10 function "_isct" in ukf_internal

Open inlizard opened this issue 5 years ago • 1 comments

i can't understand the function "_isct" in ukf_internal,expecially "I then computed the (𝑥,𝑦) coordinate corresponding to the two noisy bearing measurements and plotted them with red dots to show the distribution of the noisy measurements in 𝑥 and 𝑦 ." in charpter 10 Can you give me more details and mathematical explanation about how the "red dots“ paint and how then function "_isct" works?

inlizard avatar Nov 13 '20 04:11 inlizard

_isct just implements line-line intersection using determinents:

https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection

Plotting just adds a bit of random error to the angles, computes the intersections of the lines formed by the slight angle change, and scatter plots them.

rlabbe avatar May 04 '21 18:05 rlabbe