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Paul Riseborough ac71ec5d37 EKF: Fix scaling error in covariance prediction derivation 
The covariance prediction derivation was using the noise 1-std value instead of the noise variance. This resulted in the values of IMU process noise required to tune not matching the observed covariance growth.
2016-04-05 22:23:37 +02:00
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Inertial Nav EKF
EKF: Fix scaling error in covariance prediction derivation
2016-04-05 22:23:37 +02:00