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results_CTRA2D.txt
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results_CTRA2D.txt
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TEST RESULTS FILE:
RESULTS FROM KF WITH FULL OBSERVATION:
pos MSE:tensor(338.7009)[dB],
vel MSE:tensor(183.7997)[dB],
acc MSE:tensor(148.0765)[dB],
total MSE:tensor(333.9297)[dB],
optimal variance of acceleration for KF_FO:7.000000000000001e-05
optimal q^2 value for KF_FO:1.7500000000000002e-12
RESULTS FROM KF WITH POS OBSERVATION:
pos MSE:tensor(75.3659)[dB],
vel MSE:tensor(96.5639)[dB],
acc MSE:tensor(93.0964)[dB],
total MSE:tensor(91.6047)[dB],
optimal variance of acceleration for KF_PO:7.000000000000001e-05
optimal q^2 value for KF_PO:1.7500000000000002e-12
RESULTS FROM KF WITH IMU OBSERVATION:
pos MSE:tensor(220.2226)[dB],
vel MSE:tensor(-28.2607)[dB],
acc MSE:tensor(-0.8811)[dB],
total MSE:tensor(215.4514)[dB],
optimal variance of acceleration for KF_VO:7.000000000000001e-05
optimal q^2 value for KF_VO:1.7500000000000002e-12
RESULTS FROM KF WITH POS AND IMU OBSERVATION:
pos MSE:tensor(97.0225)[dB],
vel MSE:tensor(36.4330)[dB],
acc MSE:tensor(39.1017)[dB],
total MSE:tensor(92.3199)[dB],
optimal variance of acceleration for KF_VO:7.000000000000001e-05
optimal q^2 value for KF_VO:1.7500000000000002e-12
MSE of noisy observation and GT:
pos MSE:0.053882004939799125[dB],
vel MSE:-0.024630578686900415[dB],
acc MSE:0.00606395324420844[dB],
total MSE:0.012673897041752312[dB],
variance of acceleration for data generation: 7.000000000000001e-05
standard deviation of acceleration for data generation: 0.008366600265340756
q^2 value for data generation:1.75e-13