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Nov 07, 2017 · dim_x = 2 dim_z = 1 points = JulierSigmaPoints (n = dim_x, kappa = 3.-dim_x, sqrt_method = np. linalg. cholesky) ukf = UnscentedKalmanFilter (dim_x = dim_x, dim_z = dim_z, dt = dt, fx = fx, hx = hx, points = points, sqrt_fn = np. linalg. cholesky) """ initialize state and covariance """ beta_worst =. 9 psi_worst =. 9 ukf. x = np. array ([beta_worst, psi_worst]) # you will probably want to change the noise terms to something more appropriate beta_1sig =. 02 # 2 cm psi_1sig = np. pi / 180. # 1 ...