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  • RWB: path following doesn't work well, especially for estimated states. One of the problems is that the estimated GPS location has a bias and the commanded orbit/line does not have the same bias. Two solutions: (1) remove the Gauss-Markov bias generation from GPS (retaining only zero mean noise), (2) do what happens in field: draw the desired orbit/line using the estimated GPS location, i.e., with same bias (not sure how to do this simply).