From eff9af549f19e508becf4451d587cc0eac56842d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 24 Jul 2016 21:14:29 +1000 Subject: [PATCH] scripts: derive conversion from polar to cartesian wind state covariance --- matlab/scripts/Inertial Nav EKF/polar2cart_cov.m | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 matlab/scripts/Inertial Nav EKF/polar2cart_cov.m diff --git a/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m b/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m new file mode 100644 index 0000000000..bfb0bc6108 --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m @@ -0,0 +1,8 @@ +clear all; +syms spd yaw real; +syms R_spd R_yaw real; +vx = spd*cos(yaw); +vy = spd*sin(yaw); +Tpc = jacobian([vx;vy],[spd;yaw]); +R_polar = [R_spd 0;0 R_yaw]; +R_cartesian = Tpc*R_polar*Tpc'; \ No newline at end of file