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scripts: derive conversion from polar to cartesian wind state covariance

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Paul Riseborough
2016-07-24 21:14:29 +10:00
committed by CarlOlsson
parent a9894d7e8c
commit eff9af549f
1 changed files with 8 additions and 0 deletions
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matlab/scripts/Inertial Nav EKF/polar2cart_cov.m
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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';