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Bug in Cubature Kalman Filter : residual_x not used #280

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veylonni opened this issue Oct 13, 2022 · 0 comments
Open

Bug in Cubature Kalman Filter : residual_x not used #280

veylonni opened this issue Oct 13, 2022 · 0 comments

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@veylonni
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Hi,

It seems that there is an bug in the Cubature Kalman Filter : the constructor's argument residual_x is not used, and must be used here :

filterpy/filterpy/kalman/CubatureKalmanFilter.py

Line 378 in 3b51149

self.x = self.x + dot(self.K, self.y)

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@veylonni