Hi，
In the function RADARDEMO_clusterTracker_updateFQ:
float c = (float)(dt*dt*4.0); // (dt*2)^2 *d
float b = (float)(c*dt*2); // (dt*2)^3 *d
float a = (float)(c*c); // (dt*2)^4 *d
handle->Q[0] = a;
handle->Q[2] = b;
handle->Q[5] = a;
handle->Q[7] = b;
handle->Q[8] = b;
handle->Q[10] = c;
handle->Q[13] = b;
handle->Q[15] = c;
/*
float Q[16] = {
a, 0, b, 0,
0, a, 0, b,
b, 0, c, 0,
0, b, 0, c}
=
{
16*t^4, 0, 8*t^3, 0,
0, 16*t^4, 0, 8*t^3,
8*t^3, 0, 4*t^2, 0,
0, 8*t^3, 0, 4*t^2
}
*/
From the above definition, the process noise covariance matrix is determined by the frame period.Why is that?Is there any reference to be studied?
Thanks in advance.
Regards;
Rata
